Flexible parallel platforms are widely used in micro-operation scenarios such as precision manufacturing and biomedicine, have high research value. This article innovatively introduces a flexible Hooke hinge and a flexible spherical joint based on previous achievements. Apply the new flexible hinges to the 6-UPS flexible parallel platform. The flexible spherical joints and flexible Hooke hinges in parallel platform have a larger range of motion, which helps to improve the workspace of flexible parallel platform. The pseudo-rigid-body model of the parallel platform is established, and the inverse kinematics and inverse dynamics of the parallel platform are analyzed by using closed-loop vector method, D-H parameter method and virtual work principle. In order to verify the correctness of the inverse dynamics model based on the pseudo-rigid-body model method, the virtual prototype simulation was carried out. The simulation result show that the established inverse dynamics model is correct.