In order to further study and solve the problems of the driving force coordination of parallel machine tool with redundant actuation, build a control system based on dynamics and realize the force-position hybrid control, the original 5UPS/PRPU parallel machine tool was taken as research object, and a drive for middle PRPU constraint branch was increased to make it a redundant actuation branch. Finally, the 5UPS/PRPU parallel machine tool with redundant actuation was built. The Kane equation of higher computation efficiency was taken to establish the dynamics model. The mechanical structure was introduced, the kinematics property of the parallel machine tool was analyzed from the three aspects of speed, partial speed and acceleration. The dynamics model of the system was established, and the redundant driving force was solved. By using ADAMS software, the no-load translation example driving force was simulated and compared with the no-load translation example driving force obtained by Kane dynamic model of the parallel machine tool. The results showed that the simulated and calculated driving forces were very similar, the maximum deviation absolute value was only 0.068N. It proved the validity of Kane dynamical model and obtained the mechanism of driving force coordination and distribution. Redundant actuation can effectively reduce the peak value of driving force of the parallel machine tool and make the driving forces change slowly during the motion process. Besides, it has the advantages of high rigidity, high bearing capacity, good stability and so on. The correct establishment of the dynamic model was the prerequisite of realizing real-time control strategy. It was of great significance to the research on redundant actuation of the parallel machine tool.