Six-degrees of freedom parallel mechanisms driven by linear motors can realize high-precision and wide-band movements, and it had broad application prospects in inertial unit calibration, vibration testing and other fields. In order to reduce the amplitude attenuation of 6-DOF parallel mechanism caused by linear motor drive, dynamic feedforward control was analyzed for the mechanism. Firstly, the parameter model of the 6-DOF parallel mechanism was determined, and then the vector method was used to analyze the kinematic of the mechanism. Secondly, the dynamics model of the parallel mechanism used Newton-Euler principle. The driving force relationship of the mechanism was obtained by simplifying the dynamics equation. The driving force simulation curve was obtained by numerical analysis, and the experimental platform was built to obtain the experimental curve of the device driving force, which verified the accuracy of the dynamic model. Based on the classical motion closed loop control system and the dynamics model, a dynamic feedforward control method was designed to reduce the motion error of a given trajectory. Finally, experimental analysis of mechanism’s motion error in traditional kinematic control was done, and the motion error of the mechanism was compared. The experiment results showed that after added the dynamic feedforward control to the 6-DOF parallel mechanism driven by linear motor, the kinematic errors of the mechanism were reduced by 55.5%, 54.2% and 59.8%, when the mechanism carried out sinusoidal motion in X, Y and Z axes.