Based　on　the　features　of　SAMCEF　software,　the　virtual　model　of　flexible　parallel　robots　was　proposed,　and　the　simulation　was　performed.　The　implications　of　modules　in　SAMCEF　software　to　modeling　and　simulation　for　flexible　parallel　robots　were　introduced.　By　using　API　interface　function,　special　programs　were　developed　to　automatically　calculate　system　natural　frequency　and　internal　force.　The　key　methods　and　technological　processes　were　well　illustrated　through　the　simulation　of　a　planar　3-RRR　flexible　parallel　robot.　The　simulation　results　show　that　the　model　proposed　can　indicate　the　kinematics　and　dynamics　of　flexible　parallel　robots.　The　flexibility　of　links　is　demonstrated　to　have　significant　impact　on　system　kinematics　and　dynamics.