This paper presents a novel approach to dynamic trajectory planning for a two-DOF cable-suspended parallel robot (CSPR) based on the generate-closure method. The primary objective is to develop a viable strategy for dynamic trajectory applications, facilitating trajectory planning in real-world industrial scenarios. The study conducts an analysis of available force set intersection (AFSI) constraints, which offer crucial guidance for selecting appropriate accelerations in dynamic trajectory planning. Drawing inspiration from bridge construction techniques, we propose a generate-closure method based on the B-spline model. This approach circumvents the complexities associated with optimization problems in dynamic trajectory planning, thereby providing an analytical solution for determining dynamic trajectory parameters. The efficacy of the proposed method is validated through simulation cases, demonstrating its potential for practical implementation in industrial settings.