Abstract: Starting from the general model of parallel robotic manipulator, this paper introduces a Jacobi matrix in force domain. The masses and inertia of the open chain links after the platform are reckoned in the model, and the dynamic model of the system is established using symbolic-numeric approach. Based on elastic theory and finite elements method, the kineto-elastodynamic equation of the manipulator is also established by symbolic deriving.The method is coded into FORTRAN, and an example of KED analysis of Tianfu-I type spot-welding industrial manipulator is given as well.