In order to reduce the driving torque of planar 3-PRRR parallel redundant manipulator and to improve the stability of the motion platform of the manipulator, a hybrid algorithm is used to optimize the motion parameters of the manipulator, and the driving torque is simulated and verified. Aiming at the improvement of the traditional non-redundant manipulator drive system, the sketch of planar 3-PRRR parallel redundant manipulator was given, and the redundant manipulator drive system was designed. The Jacobian matrix was used to transform the motion trajectory of the redundant manipulator motion platform, and the closed-loop motion trajectory equation of three branches of the redundant manipulator was derived. The hybrid particle swarm optimization (HPSO) was designed by introducing and improving the particle swarm optimization (PSO) and adding crossover and mutation operations in genetic algorithm. Mixed algorithm was used to optimize the motion parameters of the redundant manipulator, and the changing of driving moment of the three branches of the redundant manipulator was simulated by MATLAB software, which was compared with that before optimization. The results show that before optimization, the driving torque of planar 3-PRRR parallel redundant manipulator is larger and the overall fluctuation range is larger; after optimization, the driving torque of planar 3-PRRR parallel redundant manipulator is smaller and the overall fluctuation range is smaller. The hybrid algorithm is used to optimize the motion parameters of planar 3-PRRR parallel redundant manipulator, which can reduce the driving moment of the manipulator and reduce the energy consumption of the motion system of the redundant manipulator.