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A novel multi-mode mobile parallel robot with folding and deploying platform was proposed to make mobile mechanism adapt in hilly and mountainous agricultural environment. The design and research of mobile robot mechanism has become a very important exploration direction of robot mechanism. The design of the multi-mode mobile parallel mechanism was composed of the spatial geometric relationship of the rotating pair and the principle of interference. The mechanism platform was constructed on the 8R structure, and the bending rate variation curve of the platform was obtained during the folding process and the optimized platform parameters were determined. The screw theory and graph theory was used to draw the topological diagram of the movement and folding modes. Topological constraint diagram was used to calculate the degree-of-freedom (DOF) of each mode. The mode switching principle was used to analyze of the robot. Movement process of the robot was proved by ADAMS. Finally, prototype was concluded that the movement process of the robot was stable and reliable, which can provide a good mobile mechanism carrier for the later installation of pesticide spraying, seed sowing, and patrol monitoring application modules. It was of great significance to further explore the use of multi-modal mobile robots in agriculture.