The dynamic equation of the 3-PRS mechanism is formulated based on Lagrange approach.Due to the kinematics constraints, three Lagrange multipliers are introduced.

• 有关此并联式机构的一些基础分析，如：自由度分析、各杆件位置分析及顺逆向运动学分析由于在文献上已经有相关的研究发表。