A　parallel　robot　with　compliant　joints　was　formed　by　compliant　joint　substituted　for　the　traditional　joints　between　the　driving　rods　and　the　connecting　rods　in　a　3-RRR　planar　parallel　robot.　Based　on　the　dynamics　models　of　the　parallel　robot　with　compliant　joints　and　the　traditional-joint　parallel　robot,　the　trajectories　of　the　moving　platform　and　the　angles　change　of　driving　rods　were　solved　theoretically　and　compared　with　each　other,　and　the　results　showed　that　both　of　theoretical　calculation　curves　were　very　close,　but　there　were　high-frequency　low-amplitude　vibrations　in　the　parallel　robot　with　compliant　joints　and　the　maximum　relative　difference　of　trajectories　of　moving　platform　and　of　the　angles　change　of　driving　rods　were　1.02%　and　1.6%,　respectively.　At　the　same　time,　the　maximum　driving　torques　of　both　robots　were　compared,　and　the　result　was　that　the　maximum　driving　torques　of　the　parallel　robot　with　compliant　joints　were　less　than　that　of　the　conventional-joint　parallel　robot.　Simultaneously,　the　trajectories　tracking　experiments　of　the　parallel　robot　with　compliant　joints　and　the　traditional-joint　parallel　robot　were　made　respectively,　which　were　compared　with　the　ideal　circular　path,　the　result　showed　that　the　two　experimental　trajectories　changed　both　basically　consistent,　but　the　magnitudes　were　different.　The　two　experimental　trajectories　were　compared　with　each　other,　and　the　relative　difference　was　3.91%.　The　theoretical　and　experimental　studies　proved　that　it　was　feasible　and　effective　that　the　traditional　joints　were　substituted　by　compliant　joints　in　the　parallel　robot,　which　laid　foundation　for　further　study　of　parallel　robot　with　compliant　joints.　©　2016,　Chinese　Society　of　Agricultural　Machinery.　All　right　reserved.