The　dynamic　modeling　and　solution　of　the　3-RRS　spatial　parallel　manipulators　with　flexible　links　were　investigated.　Firstly,　a　new　model　of　spatial　flexible　beam　element　was　proposed,　and　the　dynamic　equations　of　elements　and　branches　of　the　parallel　manipulator　were　derived.　Secondly,　according　to　the　kinematic　coupling　relationship　between　the　moving　platform　and　flexible　links,　the　kinematic　constraints　of　the　flexible　parallel　manipulator　were　proposed.　Thirdly,　using　the　kinematic　constraint　equations　and　dynamic　model　of　the　moving　platform,　the　overall　system　dynamic　equations　of　the　parallel　manipulator　were　obtained　by　assembling　the　dynamic　equations　of　branches.　Furthermore,　a　few　commonly　used　effective　solutions　of　second-order　differential　equation　system　with　variable　coefficients　were　discussed.　Newmark　numerical　method　was　used　to　solve　the　dynamic　equations　of　the　flexible　parallel　manipulator.　Finally,　the　dynamic　responses　of　the　moving　platform　and　driving　torques　of　the　3-RRS　parallel　mechanism　with　flexible　links　were　analyzed　through　numerical　simulation.　The　results　provide　important　information　for　analysis　of　dynamic　performance,　dynamics　optimization　design,　dynamic　simulation　and　control　of　the　3-RRS　flexible　parallel　manipulator.