The new type of less branched chain of six degrees of freedom 3PRRS parallel mechanism dynamics was analyzed, the influence coefficient method was used to derive the velocity and acceleration mapping relationship from the task space to joint space, and the method of virtual work principle was used to build the dynamic model of 3PRRS parallel mechanism, the analytic expression of the driving force on the driving joints was deduced.MATLAB software was used to calculate the theoretical value,and ADAMS software was used to build the dynamic model to make the dynamic simulation analysis.The results show that the numerical results are consistent with virtual simulation results,which verifies the correctness of the speed, acceleration and driving force. Finally, control strategy was briefly presented, and this strategy can alter the feedback gain at the payload changes, the control effect is better.