In　applications　where　high　stiffness,　high　accuracy,　high　speed,　high　payload,　and　good　dynamic　performance　are　predominant　requirements,　parallel　manipulators　offer　obvious　advantages　over　serial　ones.　However,　dynamic　modeling　and　analysis　of　parallel　manipulator,　which　are　characterized　by　multiple　closed-loop　chains,　are　generally　more　complex　than　in　the　serial　mechanism　case.　Especially,　dynamic　problems　of　the　parallel　manipulators　with　flexible　links　have　not　been　studied　as　extensively.　The　primary　goal　of　this　research　is　the　kinematics　and　dynamics　simulation　of　a　3-RRC　flexible　parallel　manipulator.　The　architecture　of　the　mechanism　is　comprised　of　a　moving　platform　attached　to　a　fixed　platform　through　three　identical　revolute-revolute-　cylindric　jointed　serial　linkages.　Firstly,　the　virtual　prototype　of　a　3-RRC　flexible　parallel　manipulator　is　established　on　the　basis　of　the　finite　element　software　SAMCEF.　Then,　the　displacement,　velocity　and　dynamic　stress　of　the　3-RRC　flexible　parallel　manipulator　are　analyzed.　The　simulation　results　show　that　the　flexibility　of　link　has　important　influence　on　kinematics　and　dynamics　performance　of　the　flexible　parallel　manipulator.　The　analysis　could　provide　necessary　information　for　dynamic　performance　analysis,　optimal　design　and　control　of　the　3-RRC　parallel　mechanism.　©2010　IEEE.