Abstract: In this paper, the crank linkage mechanism is taken as the research object, and the physical model is established in the Simscape environment. Combining with the PID controller algorithm, the motion trajectory of the mechanism is simulated. By analyzing the simulation results, the accuracy and rationality of the controller design in the mechanism are verified. A simulation method based on physical system cooperative controller is proposed, which provides a certain reference for the optimization design and controller design of other similar mechanisms.