This　work　aims　to　identify　ways　to　model　a　high-accuracy　hysteresis　dynamic　model　for　an　innovative　4-SPS　parallel　all-metallic　isolator.　Firstly,　a　three-dimensional　contact　model　of　spherical　joints　under　different　conditions　(stretching　and　compression)　is　proposed,　referred　to　as　the　integrated　model　of　nonlinear　micro-collision　and　interfacial　friction　(INCF　model).　Simultaneously,　in　conjunction　with　the　nonlinear　elastic　recovery　force,　nonlinear　damping　force,　and　nonlinear　hysteresis　damping　force,　the　high-accuracy　hysteresis　dynamic　model　of　the　isolator　is　constructed.　To　validate　the　accuracy,　dynamic　experiments　are　conducted　on　the　isolator　at　distinct　frequencies　(6–9　Hz)　and　amplitudes　(0.6–0.9　mm).　The　results　indicate　that　the　hysteresis　dynamic　model　constructed　based　on　the　INCF　model　exhibits　a　remarkably　high　level　of　precision　compared　to　the　classic　model　(R2=0.998).　This　increased　accuracy　is　attributed　to　the　consideration　of　influencing　factors　of　the　INCF　model,　such　as　micro-collisions　between　spherical　joints　and　interfacial　friction　during　the　operation　of　the　isolator.　These　variables　are　determined　by　the　material　properties　and　geometric　dimensions　of　the　spherical　joint　and　can　be　adjusted　in　real　time　based　on　the　isolator　deformations　to　enhance　the　model＇s　accuracy.　The　method　of　parameter　identification　applied　to　overall　structure　resolves　challenge　of　measuring　the　internal　deformation　of　spherical　joints.　Importantly,　the　INCF　model　is　not　limited　to　the　isolators　proposed　in　this　work　but　can　also　be　applied　to　similar　isolators　with　Stewart　structure-type　connections　that　employ　spherical　joints.　These　research　findings　provide　a　robust　theoretical　support　for　the　design　and　performance　optimization　of　the　isolator,　with　the　potential　to　positively　impact　related　engineering　applications.　©　2024　Elsevier　Ltd