A parallel robot is a closed-loop multi-body system controlling the motion of its end-effector (moving platform) by means of parallel kinematic chains going from its base to the end-effector. The most important problems in the dynamics study are the calculation of the inverse and direct dynamic models. Extended Definition The Inverse Dynamic Model (IDM) is used in the control applications, it calculates the input joint efforts (torques and forces) to achieve a set of prescribed joint accelerations. The Direct Dynamic Model (DDM) is used in simulation applications, it calculates the joint accelerations resulting from a set of input joint efforts.