Aiming at a parallel filling robot, the multiorder dynamic mathematical models of the system were set up, which comprised the dynamic model of the parallel mechanism, the pressure dynamic equation of twochamber and the flow equation of servo valve. In order to solve the modeling errors, uncertainties of external disturbances and differential expansion of recursive control, a robust control strategy based on dynamic surface filtering method was proposed. The design of controller was simplified by using dynamic surface filtering technique and a complete method for controller design was given by constructing a proper Lyapunov function, then the uniform ultimate bound of the tracking error was proved. The simulation results show that the system has good trajectory tracking performance and the controller has strong robust suppression performance for bounded system model errors and external disturbances.