Aiming at high-precision trajectory tracking, the dynamic model is a central issue in the control design of parallel PnP robots, which is a challenging task, since this family of the robot counterparts usually work in the domain of high frequencies. This section firstly introduces the topological structure of a parallel SCARA robot that is taken as the test bench for the control design of different control laws and trajectory planning throughout this book. Later, the equations of motion for the robot under study, in terms of rigid and coupled rigid-flexible dynamics, are built with principle of virtual work. Finally, the dynamics of the robot is verified and characterized along with an industrial testing pick-and-place trajectory.