<p>This paper introduces an innovative control strategy for a specially designed parallel mechanism, characterized by a constant force mapping relationship between the moving platform and the driving system. Leveraging this property, a stepwise control method is proposed that enhances the system’s control performance by meticulously addressing the interplay between the actuators and the applied driving forces. To refine the controller parameters, a parallel optimization technique is presented. This approach takes into account both the positional accuracy demands and the permissible output torque limits of the motors, thereby achieving a balance between precision and actuation capacity. Stability of the system is assured through an energy-based analysis, complemented by a geometric method for calculating energy shifts within the mechanism. Simulation studies were performed to assess the influence of various errors on system performance and to benchmark our strategy against the conventional use of a comprehensive dynamic model. Additionally, we have constructed a prototype to validate the proposed control method under real-world machining and assembly conditions. The experimental results demonstrate that our approach not only excels in terms of position tracking but also outperforms traditional methods in error detection and compensation.</p>