This　paper　presents　a　finite　element-based　method　for　dynamic　modeling　of　parallel　robots　with　flexible　links　and　rigid　moving　platform.　The　elastic　displacements　of　flexible　links　are　investigated　while　considering　the　coupling　effects　between　links　due　to　the　structural　flexibility.　The　kinematic　constraint　conditions　and　dynamic　constraint　conditions　for　elastic　displacements　are　presented.　Considering　the　effects　of　distributed　mass,　lumped　mass,　shearing　deformation,　bending　deformation,　tensile　deformation　and　lateral　displacements,　the　Kineto-Elasto　dynamics　(KED)　theory　and　Lagrange　formula　are　used　to　derive　the　dynamic　equations　of　planar　flexible-links　parallel　robots.　The　dynamic　behavior　of　the　flexible-links　planar　parallel　robot　is　well　illustrated　through　numerical　simulation　of　a　planar　3-　raise0.3emRRR　parallel　robot.　Compared　with　the　results　of　finite　element　software　SAMCEF,　the　numerical　simulation　results　show　good　coherence　of　the　proposed　method.　The　flexibility　of　links　is　demonstrated　to　have　a　significant　impact　on　the　position　error　and　orientation　error　of　the　flexible-links　planar　parallel　robot.　©　2008　Higher　Education　Press.