The　researches　on　dynamic　modeling,　characteristic　analysis,　control　strategy　design　and　dynamic　performance　analysis　for　the　parallel　robot　with　compliant　joints,　which　had　the　property　of　large　range　motion,　were　carried　out.　Based　on　pseudo-rigid-body　model,　the　characteristics　of　compliant　joints　were　investigated　and　system　model　with　large　deformation　compliant　joints　was　set　up.　The　dynamic　equation　was　obtained　based　on　Lagrange　method.　A　reaching　law　sliding　mode　control　strategy　was　designed　to　eliminate　the　vibration　and　the　unmodelled　dynamics　caused　by　compliant　joints　and　the　model　error　made　by　inertia　parameter　perturbation.　And　the　stability　of　control　strategy　was　verified.　Simulation　results　showed　that　dynamic　model　and　control　strategy　were　effective.