Aiming at the question of the dynamic of linear driven parallel robot, based on the geometric structure model of linear driven parallel robot, the kinematics model of linear driven parallel robot was established by using the vector method. The inverse kinematics model, velocity and acceleration model of the linear driven parallel robot was obtained based on the d’Alembert’s form of the principle of virtual work, each actuated torque of the mechanical system moving parts were analyzed with a virture displacement. The dynamic equation was derived and the affecting factors of the linear driven parallel robot was determined. By a given trajectory of the moving platform, the torque of the motors was derived by the back solution, the inertia term which was the most important factor of the torque was analyzed. By a conical spiral trajectory, through the combined simulation model of Matlab and ADAMS with the test of load characteristic, the test curve was compared with the theoretical curve of electrical motors torque, which can verify the correctness of the dynamic theoretical model and the theoretical dynamic equation, which made the foundation of optimization of dimensional synthesis and trajectory planning of linear driven parallel robot and also gave the theoretical support for the research and development of the similar parallel robot.