The dynamic modeling and robust control for a three-prismatic-revolute-cylindrical (3-PRC) parallel kinematic machine (PKM) with translational motion have been investigated in this paper. By introducing a mass distribution factor, the simplified dynamic equations have been derived via the virtual work principle and validated on a virtual prototype with the ADAMS software package. Based upon the established model, three dynamics controllers have been attempted on the 3-PRC PKM. The intuitive co-simulations with the combination of MATLAB/Simulink and ADAMS show that the control performance of neither inverse dynamics control nor robust inverse dynamics control is satisfactory in the presence of parametric uncertainties in PKM dynamics. On the contrary, the controller based on the passivity-based robust control scheme is more suitable for tracking control of the PKM in terms of both control performances and controller design procedures. The results presented in the paper provide a sound base for both the mechanical system design and control system design of a 3-PRC PKM.