In order to realize the fine printing of a curved surface by a 3D printer, a higher requirement was put forward for the rapid response and accurate control of the sprinkler structure of 3D printer. A planar 4-RRR redundant parallel mechanism was designed to realize attitude control.According to the characteristics of the mechanism and based on the kinematics, the dynamic model of the mechanism was established by using the principle of virtual work. The optimization of the equivalent generalized force to the axial driving force was realized by means of hybrid driving mode and the minimum twonorm method.On this basis, the two norms of the driving force and the minimum total driving power were optimized, and the angular velocity, driving force and driving power curves were obtained respectively.The results show that the difference between the twonorm solution of the driving force and the minimum total driving power solution is slightly small,and the work of the driving motor is reduced by 1.17%.Combining the optimization results of the twonorm driving force and the minimum total driving power, the hybrid driving mode was selected to achieve the balance between the instantaneous driving force and the instantaneous driving power of the redundant parallel mechanism driver, and to reduce the power consumption in the process of the mechanism movement, so as to realize the rapid response of the sprinkler mechanism of the 3D printer.