The invention discloses a flexible self-adaptive dynamic balancing device. The device includes a lower base plate, a moving platform, motor screw guide rail modules, first branch chains and a second branch chain, the lower base plate is fixed on the ground, each motor screw guide rail module is fixed on the lower base plate, one end of each first branch chain is connected with a slide block of thecorresponding motor screw guide rail module through a spherical pair, and the other end of each first branch chain is hinged with the moving platform; one end of the second branch chain is connectedwith the lower base plate through a spherical pair, and the other end of the second branch chain is hinged with the moving platform; the number of the first branch chains is five, the number of the corresponding motor screw guide rail modules is five, and the number of the second branch chain is one. The advantages are fully used that a parallel mechanism is high in carrying capacity, compact in structure, flexible to move, small in inertia and convenient to control in time, and the whole symmetrical structure design has the advantages of simple and compact structure, reasonable design and good processing and assembly technologies.