This　paper　presents　a　method　for　the　dynamic　stress　analysis　of　planar　parallel　robots　with　flexible　links　and　a　rigid　moving　platform.　The　finite　element-based　dynamic　model　of　flexible　parallel　robots　is　proposed.　The　relation　between　elastic　deformations　and　elastic　displacements　of　the　flexible　links　is　investigated,　considering　the　coupling　effects　of　elastic　motion　and　rigid　motion.　The　elastic　deformations　of　links　are　calculated.　Considering　the　effects　of　bending-shearing　strain　and　tensile-compression　strain,　the　dynamic　stress　of　the　links　and　its　position　are　derived　by　using　the　Kineto-Elastodynamics　theory　and　the　Timoshenko　beam　theory.　Due　to　the　flexibility　of　the　links,　the　dynamic　stresses　are　well　illustrated　through　numerical　simulation.　Compared　with　the　results　of　the　finite　element　software　SAMCEF,　the　numerical　simulation　results　show　the　good　coherence　and　advantages　of　the　analysis　method.　The　dynamic　stress　analysis　is　demonstrated　to　have　a　significant　impact　on　the　analysis,　design　and　control　of　flexible　parallel　robots.　©　Higher　Education　Press　2007.