Aiming at the optimization of the driving force of the redundant driven parallel mechanism,a displacement coordination model of the redundant driven parallel mechanism was proposed,considering the elastic deformation of each driving arm and the displacement of the actuator.The mechanical properties of the three control methods of all-position control,hybrid position-force control and all-force control in redundant driven parallel mechanisms were studied.The correlations between driving force/torque,actuator displacement,external load and driving arm stiffness in each control method were analyzed.The influence law of input displacement and driving arm stiffness on force distribution under different control methods was revealed.Finally,through the experimental platform of the redundant driven parallel mechanism,the three control methods were verified,and the application of the three control methods under different working conditions was discussed.