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Dynamic model of parallel mechanism is on the dynamics analysis, kinetic parameters optimization and the basis of the dynamic parameter identification, and the accurate dynamics model is the premise to realize its high speed and high precision control. The multi-energy domain dynamics modeling of six degrees of freedom Stewart parallel platform was studied. Firstly, the dynamic model of the Stewart platform driven by electric cylinder was established by using the screw bond graph, the equation of state was derived by using the traditional bond graph, the servo electric cylinder bond graph model was established, and the equation of state was derived, according to that, connecting the drive end to the mechanical body, and the whole solution of the dynamic model of multi-energy domain system would be obtained. Secondly, given the end trajectory of the platform, the drive displacement obtained by the reverse solution accorded with the requirement of trajectory planning on motion stability, the dynamic complete solution included the driving force and joint binding force was obtained by combining the state equation and comparing the theory calculation in Matlab, the simulation results in ADAMS and the real value of the driving force in experiment, the curve fitting degree was high which verified the correctness of the screw bond graph model. Finally, by means of driving force with theory calculate and the whole solution of the multi-energy domain dynamics model, the servo motor current was got, compared with the real value of the current, the correctness of the whole solution of multi-energy domain dynamics model would be verified. It laid a foundation for the identification of dynamic parameters and the research of platform control for the following parameters, including the inertial parameters and friction parameters of the drive unit.