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A 5-degree of freedom (DOF) 5-UPS/PRPU parallel machine tool (PMT) with redundant actuation is introduced. The characteristic of the PMT is described. Based on the conventional Lagrange Equation, the dynamic formulation of this PMT with redundant actuation is derived. A novel force distribution method is proposed for redundant actuation. The constraint couple of the PRPU limb to the moving platform is deduced with the D' Alembert's principle. Then, the dynamic calculation of the redundant actuation limb is performed. Thus, the inverse dynamic solution can be derived. With ADAMS software, the three-dimensional entity model of the PMT is built and the dynamic simulations are carried out through some typical motion. The simulation results are consistent with the theoretical calculation, which proves the correctness of the theoretical deduction and the feasibility of the simulation analysis.