“Recently, researchers have proposed a 3-RPS/3n-SPS parallel mechanism with redundant branches and conducted in-depth kinematic and dynamic analysis on it. By constructing dynamic supplementary equations, the constraint reaction forces and branch forces of all motion pairs in the mechanism were successfully solved. This research result not only provides a theoretical basis for further research and application of the mechanism, but also provides new ideas for inverse dynamic modeling of other parallel mechanisms with redundant branches.”