A precise integrated dynamics modeling idea is presented to carry out the characteristics analysis and performance prediction of electrical parallel robots using a 6-SPU parallel robot driven by permanent magnet synchronous motor(PMSM) as an example.Motor systems in the electrical parallel robot move with legs,and meanwhile rotors and snails go around the axis of themselves.The first kind of movement is analyzed through multi-body dynamics and the second is analyzed through PMSM dynamics,and then an integrated dynamics model is established.The model avoids the calculation of time-varying equivalent inertia of each motor,and takes the influence of counter EMF and the motor friction into account.Finally,the simulation analysis is performed on a parallel robot using 1 Hz sinusoidal signal,and results verify the feasibility of the model,which can settle the foundation for further physical realization.