To　obtain　the　vibration　characteristics　of　the　parallel　robot　with　leaf-spring　compliant　joints,　the　frequency　equation　was　proposed　on　the　dynamics　equations,　based　on　the　dynamics　equations　of　the　parallel　robot　with　leaf-spring　compliant　joints,　the　frequency　equation　was　proposed,　and　the　natural　frequencies　of　the　system　changed　in　the　robot　motion　and　work　space　were　analyzed.　At　the　same　time,　the　amplitude-frequency　characteristics　of　differences　of　the　theoretical　trajectory,　software　simulations　and　the　nominal　trajectory　were　analyzed　to　prove　that　the　theoretical　calculations　and　the　software　simulations　were　correct.　Simultaneously　the　frequency　equation　and　amplitude-frequency　characteristic　analysis　method　were　verified　the　validity　to　each　other.　©　2016,　Editorial　Department　of　Journal　of　Beijing　University　of　Technology.　All　right　reserved.