A six pyramid parallel robot was taken as the object, and the dynamic model of the robot was established by using the Lagrange method. The relationship between the drive current and tasks trajectory was analyzed combined with the design principle of linear motor. With the goal of minimum instantaneous kinetic energy, motor drive was optimized based on genetic algorithm. Energy consumption optimized was reduced by 47.6% compared with non redundant tasks. The experiment of redundant track tasks was carried out. The experimental results showed that the current change was in good agreement with the simulation results, and the feasibility and rationality of this optimization method was verified. 