The　research　on　dynamics　and　trajectory　tracking　of　the　parallel　robot　with　open　thin-walled　compliant　joints　is　presented.　According　to　the　characteristics　of　compliant　joints,　the　system　model　is　derived.　The　dynamic　equation　is　obtained　based　on　Lagrange　method.　To　compensate　the　uncertainty　of　system,　a　reaching　law　sliding　mode　control　strategy　with　upper　bound　and　the　other　one　with　the　radial　basis　function　(RBF)　neural　network　are　designed　respectively.　The　stability　of　control　strategies　is　verified　based　on　Lyapunov　theory.　The　motion　planning　algorithms　of　linear　and　circular　trajectories　are　presented　by　S-curve　velocity　planning　method.　Simulation　results　show　that　the　system　model　and　the　control　strategies　are　effective　to　realize　the　trajectory　tracking　of　parallel　robot　with　compliant　joints.　©　2016　Journal　of　Mechanical　Engineering.