Parallel　robot　with　hybrid　chains　has　many　advantages　such　as　independent　motion　outputs,　high　stiffness　and　control　decoupling,　but　the　existence　of　the　close-loop　in　the　chain　also　increases　the　difficulties　of　kinematic　analysis　and　dynamic　analysis.　The　dynamic　modeling　method　for　parallel　robot　with　hybrid　chains　based　on　the　principle　of　virtual　work　and　equivalent　tree　structure　is　proposed　by　disconnecting　the　platform　and　the　chains　as　well　as　degenerating　hybrid　chain　into　serial　chain　or　tree　chain,　the　closed-form　solutions　for　the　inverse　and　direct　dynamic　models　of　parallel　robot　with　hybrid　chains　are　derived,　the　dimension　of　dynamic　model　is　equal　to　the　degrees　of　freedom　of　the　robot,　the　minimal　inertial　parameters　and　recursive　Newton-Euler　method　can　be　utilized　to　reduce　the　computation　time　of　inverse　dynamic　model　of　the　chain.　The　method　is　applied　to　the　kinematic　analysis　and　dynamic　analysis　of　two　parallel　robots　with　hybrid　chains　(2-P(Pa)　R-1-PUU　and　3-PU*)　and　is　applicable　for　all　kinds　of　parallel　robots　with　hybrid　chains,　it　can　instruct　structure　parameter　design　and　actuator　selection　of　parallel　robot　with　hybrid　chains　and　can　be　used　for　real-time　dynamic　control　of　the　robot.