This　paper　presents　a　method　for　the　dynamic　modeling　of　parallel　robots　with　flexible　links　and　rigid　moving　platform　based　on　finite　element　theory.　The　relation　between　elastic　displacements　of　links　is　investigated,　taking　into　consideration　the　coupling　effects　of　elastic　motion　and　rigid　motion.　The　kinematic　and　dynamic　constraint　conditions　of　elastic　displacements　of　flexible　parallel　robots　are　presented.　The　Kineto-Elastodynamics　theory　anti　Timoshenko　beam　theory　are　employed　to　derive　the　equations　of　motion,　considering　the　effects　of　distributed　mass,　lumped　mass,　rotary　inertia,　shearing　deformation,　bending　deformation,　lateral　deformations　and　till　the　dynamic　coupling　terms.　The　dynamic　behavior　due　to　flexibility　of　links　is　well　illustrated　through　numerical　simulation.　Compared　with　the　results　of　SAMCEF　software　simulation,　the　numerical　simulation　results　show　good　coherence　and　the　advantages　of　the　method.　The　flexibility　of　links　is　demonstrated　to　have　significant　impact　on　system　performance　and　stability.　A　method　for　the　inverse　dynamic　analysis　of　flexible　parallel　robots　is　presented.