Abstract: 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.