Todays, parallel robots with six degrees of freedom are widely used in motion simulation industry. Spreading application of motion simulation for different means of transportation has led to advance training in a safe way with less time and equipment cost. Mostly, the 6-UPS structure Stewart parallel manipulator is used as motion simulators due to their large workspace, rigidity and load capacity. Since the massive moving actuated prismatic joint is located between fixed and moving platforms, the dynamic performance of the mechanism is not efficient. The robot with PUS structure can be a good alternative for UPS type as its actuators are fixed to the ground. This results in lowering of the overall robot cost in addition to stiffness increase. In this paper the inverse kinematic and dynamic of a general 6-PUS robot is presented using Newton-Euler method. The theoretical dynamic model results are verified using motion analysis software. A simplified dynamic model is prepared eliminating links’ inertial terms from dynamic equation. The accuracy of the model is evaluated for different link to payload mass properties ratio. The simplified dynamic model used to improve the computational efficiency of the inverse dynamics.