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.