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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.