A three-DOF parallel manipulator with two rotations and one translation was put forward as a levelling mechanism in this paper. Its structure and kinematics were analyzed and the first-order influence coefficient matrix was obtained by using the influence coefficient method. Then the complete and concise dynamic equations without too many unknowns were established based on Lagrange method. In addition, the dynamics simulation was carried out and the result shows that drive forces of the legs have no s...
