To　obtain　the　dynamic　model　of　flexible-link　parallel　robots,　the　kineto-elastodynamics　theory　and　the　finite　element　method　were　employed　to　analyze　the　relation　between　elastic　deformations　and　elastic　displacements　of　the　flexible　links.　The　kinematic　constrain　conditions　and　dynamic　constrain　conditions　of　the　elastic　displacements　of　the　planar　flexible　parallel　robots　were　proposed.　Finite　element-based　system　equations　were　presented　for　the　dynamics　of　planar　flexible　parallel　robots.　The　numerical　simulation　of　a　planar　3-RRR　parallel　robot　was　presented　and　compared　with　the　results　of　SAMCEF　software　simulation.　The　maximal　relative　error　is　less　than　9%,　and　the　numerical　simulation　results　show　good　coherence　and　the　validity　of　the　system　equations.　The　dynamic　behavior　of　the　planar　flexible　parallel　robot　can　be　well　illustrated　through　the　system　equations.