Compliant joints have been widely used in precision positioning stage due to the property of nearly zero friction. A novel modeling method for compliant joints is proposed, which considers their deformation in the six spatial direction by treating flexure hinges as space frame elements. A rigid-flexible coupling two-dimensional positioning stage(RFC2DPS) containing multiple compliant joints is proposed, which can eliminates the positioning errors caused by pre-motion friction thereby achieving long-stroke ultra-precision positioning. The dynamic model of the RFC2DPS is established by combining the floating frame approach with the proposed compliant joint modeling method. Two comparative experiments of point-to-point and trajectory tracking motions are conducted using MATLAB and ADAMS. Compared to the simulated values, the maximum positioning error in the X and Y directions are 0.32% and 0.44%, respectively, using MATLAB, verifying the accuracy of the dynamic model. Finally, the established dynamic model of the RFC2DPS is analyzed for spatial displacement coupling. The results conform to the spring system assumptions of the model, verifying the effectiveness of the dynamic model.