For the integrated assembly of large precision and complex parts, a wheeled parallel gesturing robot that integrated omnidirectional motion and gesturing micro-motion was proposed. The omnidirectional motion features were integrated into the parallel mechanism by sharing some degrees of freedom, which solved the problems of large range of arbitrary directional movement and efficient continuous operation of precision posture in small space. Based on the spiral theory, the reasonableness of the position control axis selection was analyzed, and the performance of the two control methods in different end attitude domains was evaluated to obtain the force-position hybrid control active input selection strategy for different target attitudes of the device. Based on ADAMS and Simulink software, a mechatronic model with good environmental consistency and strong control can be built to verify the feasibility and accuracy of wheeled parallel attitude adjustment equipment by using force-position hybrid control strategy. The experimental results of the engineering prototype verified that the proposed redundant control strategy can realize the functions of wheeled parallel posture robot and ensure the posture accuracy, and laid the theoretical and practical foundation for the development of a 6-degree of freedom parallel posture, alignment and assembly intelligent robot with high reliability, large scale, heavy load, high accuracy, and high precision omnidirectional motion and precision posture functions.