Dynamic　modelling　and　analysis　are　the　basis　for　precise　control　of　mechanical　devices.　The　present　aims　to　provide　a　dynamic　modelling　methodology　for　redundantly　actuated　parallel　spindle　head.　For　this　purpose,　a　novel　redundantly　actuated　parallel　spindle　head　is　taken　as　an　example　to　demonstrate　the　modelling　process.　Firstly,　the　structure　of　novel　redundantly　actuated　parallel　spindle　head　is　described　to　reveal　its　topology　of　2PRU　&　(2PRU)R　parallel　mechanism.　Secondly,　a　close-loop-based　kinematic　model　is　constructed　to　provide　kinematic　foundation　for　further　dynamic　modelling.　Thirdly,　a　comprehensive　dynamic　model　is　established　by　using　the　principle　of　virtual　work.　Based　on　the　established　model,　the　actuated　forces　are　predicted　and　further　optimized　by　the　least　2-norm　criterion.　Finally,　some　numerical　simulations　are　carried　out　to　verify　the　proposed　dynamic　modelling　methodology.　The　good　agreement　between　the　theoretical　and　numerical　results　proves　the　effectiveness　of　the　proposed　dynamic　model.　©　2022　IEEE.