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A co-simulation method for rigid-flexible coupling system is proposed in this paper, it is simple and easily carried out. In order to solve the dynamics of 3-TPT parallel robot more accurately, its three driven links are regard as flexible bodies and the other parts are rigid bodies to form the rigid-flexible coupling system, and the dynamics equation of the coupling system is educed by Lagrange's equation, but it is very complex and difficult to educe number solution, so the co-simulation method using ADAMS and ANSYS is put forward, which the dynamics analysis is fulfilled in ADAMS and stress analysis in ANSYS. The concrete steps are also introduced. In order to observe the simulation results better, the simulation results are compared with rigid system, and the results show that, the forces applied on flexible bodies appear high nonlinear, and with the driven links are close to their extreme, the nonlinear is more obvious and the forces are bigger. This state is closer to the truth, so the simulation results are more authentic and can reflect actual dynamics characteristic of 3-TPT parallel robot.