Parallel continuum robots are new structures that have enormous advantages in terms of safe human-machine interaction, the possibility of miniaturization, or lower weight, but there are still areas that need to be explored further. One of these is dynamics. There are plenty of static models of parallel continuum robots, but few are studying their dynamics. The purpose of this work, therefore, is to create a dynamic model for parallel continuum robots that will be fast and accurate, so that it can be used for real-time applications. To create a model of the robot, the flexible elements need to be modelled. To do this, it was decided to apply Cosserat's theory of elasticity.