It　is　theoretically　and　practically　significant　to　design　large　deformation　of　flexure　joints　with　high　precision　for　replacing　the　traditional　rigid　kinematic　pairs　in　general　mechanisms　and　robots　with　gross　motion.　Ten　types　of　flexure　joint　schemes　are　proposed.　Two　new　types　of　X　and　Y　flexure　joints　are　chosen　via　ANSYS　and　ADAMS　simulation　and　comparison.　After　the　structure　design　and　manufacture　of　the　two　flexure　joints,　the　axis　drifts　of　the　flexure　joints　are　measured　using　the　3D　optical　coordinates　measuring　instrument　OPTOTRAK.　The　X-type　flexure　joint　is　decided　to　be　the　optimal　scheme.　The　rigid　kinematic　pairs　of　planar　3-RRR　parallel　robot　are　replaced　by　the　X-type　flexible　joints　and　the　experiment　on　the　trajectory　tracking　of　a　circular　with　diameter　of　100mm　is　carried　out.　Compared　with　the　cases　of　single　spring　flexible　joints　and　rigid　revolute　pairs　in　the　robot,　the　experimental　results　show　that　the　X-type　flexure　joint　can　be　used　to　substitute　the　revolute　pair　very　well.　The　maximum　error　of　robot　with　X　type　flexure　joint　is　just　0.371　7　mm　that　is　reduced　by　44.2%　and　31.1%　compared　with　that　with　rigid　revolute　pairs　and　single　spring　flexible　joints,　respectively.　The　motion　precision　and　characteristics　of　the　parallel　robot　are　improved　a　lot.　©　2018　Journal　of　Mechanical　Engineering.