In order to improve the control accuracy and stability of robots when grasping and stacking the packaging items on the packaging production line, it is necessary to accurately understand the dynamic characteristics of robots. Thus, this paper studied the dynamic characteristics of the 3-PUU parallel robot. This paper introduced the basic structure of 3-PUU parallel robot, and used D 'Alembert method to analyze and calculate its dynamics. Then the robot entity model was built and imported into Adams software for simulation calculation, which was compared with the results obtained by programming calculation in Matlab. The dynamic equation of the robot was obtained, and the displacement, velocity and acceleration curves of the slider driven by the robot were obtained by simulation, which were consistent with the results calculated by Matlab programming. Moreover, the curves were smooth and continuous without mutation. The correctness of the mathematical model is verified, providing a theoretical basis for the motor selection and accurate control of the robot.