A novel 6-PSS parallel mechanism was proposed, which was used for kinetics analysis of the rigidflexible coupling model and simulation analysis. The parallel mechanism mainly included moving platform, static platform, fixed pole, slider and redundant faulttolerant drive and other components. The parallel mechanism was used to carry on the kinematics analysis，and the inverse kinematics equation was obtained. The flexible rods were discretized by using the finite element theory; using the Lagrange equation and the kinetic theory, the elastic dynamic equations and the dynamic equations of the rigid substructures were established, and the elastic dynamic equation of the system was deduced. Using ADAMS and ANSYS software, the rigidflexible coupling model of 6-PSS parallel mechanism was built to simulate kinematics and dynamics, which was compared to the results of rigidbody model. The results show the motion and force curves of the two models are consistent, position error of the platform and force error tend to fluctuate in a short time, driving force of the model is smaller than the system load. The established rigidflexible coupling model is right, the agency’s drive performance is favorable.