This paper presents a method for the real-time simulation of Lagrangian formulation of the dynamics of parallel manipulators. A choice of generalised coordinates called the extended-configuration-space is introduced, which builds on the configuration, actuator and task-space coordinates. In particular, the proposed method presents the versatility to be transformed either into task-space or actuator- space models without sacrificing on the computational advantage. A comparative numerical study illustrates the accuracy and efficiency of the proposed method. Further, simulation studies on a semi-regular Stewart platform manipulator (SRSPM) and the 6-RSS manipulator are also presented.