Abstract: As it is difficult for the serial mechanism to achieve the trajectory of complex spatial curved surface, we propose a 6-HUS parallel moving platform which can operate along the space curve and curved surface. The dynamics of the parallel moving platform was analyzed and the dynamic model was built by Lagrange method based on the foundation of kinetic analysis. Combined with the given examples, the driving force curve of each drive rod was obtained through solving dynamic model by Matlab. Then the dynamic simulation with virtual prototype of the parallel moving platform was carried out by Adams, and driving force curves by the virtual simulation were consistent with those by the numerical simulation. It was verified that the dynamic model built by Lagrange method was feasible with properly simplified model of the parallel moving platform, and this provides theoretical references for subsequent research of dynamic optimization and control system design.