中文摘要：

对一种空间3自由度并联机器人（3-R_RC并联机器人）进行动力学分析。此并联机器人的机构由一个动平台和一个静平台通过3个同样的转动副一转动副一圆柱副支链组成。基于Lagrange方程导出3-R_RC并联机器人的动力学模型，并分析此并联机器人的动力学特性。通过一个算例，讨论3-R_RC并联机器人的等效转动惯量、驱动力／力矩和能耗的变化规律。结果表明，对于给定的运动规律，机构位形对系统的等效转动惯量和驱动力／力矩的影响很大。研究对进一步分析3-R_RC并联机器人的动态特性、机构优化设计和系统控制等实际工程应用具有重要意义。

英文摘要：

The dynamic analysis of a spatial 3-DOF parallel manipulator （3-R_RC 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-R_RC 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-R_RC parallel mechanism.