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The double 1R pseudorigid body model of the compliant joint was put forward for the first time based on the pseudorigidbody model of the initial bending beam. And a dynamic equation of parallel robot system with compliant joints was proposed based on Lagrange method and the virtual cutting method. The dynamic response was obtained numerically. It is shown that there were lowamplitude highfrequency vibrations on the basis of the desired results in the theoretical results, while there was no apparent highfrequency vibration in the results of the simplified model. It indicated that the theoretical model was better than the simple model to reflect the characteristics of such rigidflexible coupling system. Simultaneously, ADAMS-ANSYS united simulation model and the experimental system were accomplished. And the theoretical trajectory was compared with simulation and the experimental trajectory, respectively. The maximum relative errors were 2.41% and 4.69%, respectively, which proved the correctness and validity of the theoretical model.