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Based on the novel 3-DOF translational fully compliant parallel micro-robot {R∥R∥R∥P（4R）}∥{R∥R∥P（4R）∥R}⊥{R∥R∥R∥P（4R）}, the traditional joints were substituted by compliant ones, and the traditional parallel mechanism was transformed into the compliant micro-robot. Every compliant elastic joint was replaced by a traditional joint and a torsional spring using the pseudo-rigid-body model method. Finally, the pseudo-rigid-body model of the compliant parallel mechanism was established. Referring to the concept of “compliant friction-circle”, the static forces analysis of the fully compliant three DOF translational parallel mechanism was studied by the friction-circle method. The results show that the static forces properties of the fully compliant mechanism are not good enough, though it has good kinematics properties.