This work aims at the problem of model solving and subsequent control difficulties caused by complexity of the dynamics model of a flexible planar 3-RRR parallel robot and effectively suppressing the elastic deformation of the flexible planar 3-RRR parallel manipulator.Firstly, considering the rigid-flexible coupling between the rigid drive link and the flexible intermediate link and the influence of the momentary inertia at both ends on the flexible intermediate link, the boundary condition of the flexible intermediate link was determined to be pinned at both ends and its mode function was calculated.Then，considering the main vibration modes of the flexible intermediate link and the influence of the inertia force and the coupling force of the system, the high efficiency dynamic model of the system was established on the basis of guaranteeing the model control precision.Finally, the results of the dynamic model analysis were compared with the finite element analysis software (ANSYS) and the modal test results.The results show that the dynamic model established in this work can effectively reflect the main vibration modes of the 3-RRR parallel robot and can fully reflect the influence of inertial force and coupling force on the dynamic model and modal characteristics of flexible intermediate link.At the same time, this model has fewer dynamic parameters，which is convenient to implement control program.
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