The dynamic modeling and slide-mode control for a planar macro-micro parallel robot were investigated. Firstly, the inverse position and the forward position were analyzed by vector method. The velocities and accelerations of the mechanism were derived. Then, pivotal points were selected. The partial velocity and angular velocity about these ones were obtained. The inertial force and moment of the links were obtained by Newton-Euler formulation. Furthermore, based on the principle of virtual work, the dynamic formulation of the system with micro-driven table was formulated. Finally, a sliding-mode controller was designed. The result showed that proposed method was effective. 