The　double　1R　pseudo-rigid　body　model　of　the　compliant　joint　was　put　forward　for　the　first　time　based　on　the　pseudo-rigid-body　model　of　the　initial　bending　beam.　And　a　dynamic　equation　of　parallel　robot　system　with　compliant　joints　was　proposed　based　on　Lagrange　method　and　the　virtual　cutting　method.　The　dynamic　response　was　obtained　numerically.　It　is　shown　that　there　were　low-amplitude　high-frequency　vibrations　on　the　basis　of　the　desired　results　in　the　theoretical　results,　while　there　was　no　apparent　high-frequency　vibration　in　the　results　of　the　simplified　model.　It　indicated　that　the　theoretical　model　was　better　than　the　simple　model　to　reflect　the　characteristics　of　such　rigid-flexible　coupling　system.　Simultaneously,　ADAMS-ANSYS　united　simulation　model　and　the　experimental　system　were　accomplished.　And　the　theoretical　trajectory　was　compared　with　simulation　and　the　experimental　trajectory,　respectively.　The　maximum　relative　errors　were　2.41%　and　4.69%,　respectively,　which　proved　the　correctness　and　validity　of　the　theoretical　model.　©,　2015,　Chinese　Society　of　Agricultural　Machinery.　All　right　reserved.