Abstract: The dynamic analysis of a spatial 3-DOF parallel manipulator (3-RRC parallel manipulator) is presented. The architecture of the mechanism is composed of a moving platform attached to a fixed platform through three identical revolute-revolute-column jointed serial linkages. First, the dynamic equation of a 3-RRC parallel manipulator based on the Lagrange equation is presented, and the dynamic character of the mechanism is analyzed. Then, the changes of equivalent moment of inertia, actuator force/torque and energy consumption of the mechanism are analyzed through an example. The results of numerical simulation show that, for a given motion, the configuration has a significant influence on the equivalent moment of inertia and actuator force/torque. The analysis provides necessary information for dynamic performance analysis, optimization design and control of the 3-RRC parallel mechanism.

Key words: Lagrange equation, Parallel manipulator　Dynamic analysis