To improve the dynamic response of spatial parallel mechanism caused by wear clearance and lubrication clearance, this paper takes 3-PSR mechanism as the research object, establishes the wear clearance model of spherical pair and reconstruct the wear surface. The lubrication clearance model of spherical pair is established, the Flores transition force model is introduced. Using the Lagrange multiplier method, the dynamic equations of the spatial parallel mechanism with wear clearance and the spatial parallel mechanism with lubrication clearance are derived. The effects of wear and lubrication on the dynamic characteristics of space parallel mechanism are compared and analyzed. The results demonstrate that the abrasion will accelerate the collision between clearance elements, deteriorate the dynamic performance of the mechanism. And it successfully improves the dynamic performance of the mechanism after adding lubricating oil. This paper provides theoretical support for improving the effects of wear clearance on the dynamic performance of space parallel mechanism.