This article demonstrates an iterative approach for precise parallelism and gap control of two platforms. In order to achieve this goal, three linear actuators were used to adjust the posture and distance of one platform with respect to the other. Besides, motion coupling between three actuators was considered and compensated for by a model-based iterative control method. The features of the proposed method are a simple actuating mechanism, efficient sensing architecture, and robust iterative control for permissive modelling uncertainties. Experimental results show that, within 0.3 s, the desired parallelism and gap can be achieved with errors in the sensor resolution level. Therefore, the proposed method is suitable for precise parallelism and gap control of two platforms.