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In order to grasp the nonlinear dynamic characteristics of space parallel mechanism considering spherical joint clearances and three-dimensional revolute joint clearances, the dynamic characteristics analysis method of space parallel mechanism multi-body system considering compound clearances was studied. Firstly, taking 4-UPS/RPU spatial parallel mechanism as research object, the models of three-dimensional revolute joint clearances and spherical joint clearances were established, and the dynamic equation of 4-UPS/RPU spatial parallel mechanism considering both spherical joint clearances and three-dimensional revolute joint clearance was derived. Then the dynamic equation was solved numerically by Runge-Kutta method, and the effects of different clearance types, clearance values, driving speed and friction coefficient on the dynamic response of parallel mechanism were analyzed. The correctness of dynamic model and numerical calculation was verified by simulation of ADAMS virtual prototype. Finally, nonlinear characteristics of 4-UPS/RPU parallel mechanism with compound clearances were considered by phase diagram, Poincare map and bifurcation diagram. The research provided a basis for dynamic modeling and nonlinear dynamic analysis of spatial parallel mechanism considering compound joint clearances.