In various coordination tasks of a multi-robot systems, e.g., cooperative assembly, multiple manipulators are desired to align their movements simultaneously. Consensus of the manipulators requires that they achieve a common configuration by sharing only their joint variables with some neighboring manipulators. This work studies the consensus of multiple five-bar parallel manipulators that contains flexible links, which is a challenging problem. The equation of motion of the manipulator is first derived based on substructure method and Lagrange’s equation of the 2nd kind, and finite element method. Then, a consensus law is proposed for the system based on only the actuated joint variables of the parallel robots commutating over a direct graph. Simulation results are given to show the effectiveness of the control method.