Abstract: A dynamics model of 6—UPS parallel manipulator is presented. In order to construct a complete dynamic model with the effect of all parts’ gravity and inertia force, a serial of coordinates on parts are defined with D—H method and a kinematics analysis on a single chain of leg is carried out. As a result, closed-form equations for the inverse kinematics and velocity and acceleration transformations from joint space to task space are given. A group of dynamic formulations are deduced by the Newton-Euler approach， which is widely used for serial manipulators. As an example, legs forces of a parallel machine tool are calculated and the force curves are drawn.

Key words: Parallel machine tool, Dynamics, Kinematics, Parallel mechanism, Rotating heat source method, Temperature field, Uniformly distributed heat source method, Tread braking