A universal type 3P3R manipulator in the facility agriculture environment such as greenhouse was designed. The kinematics and dynamics of the manipulator were analyzed for operating performance and accurately motion control acquired. The Kane's method and screw theory were applied to set up the kinematics and dynamics models, respectively. Then in accordance with the models for the manipulator and the structure of the prototype robot manipulator, the operating performance of the manipulator was studied in the Mathematica environment. The orientation variation of the end-effectors and all joint driven torques of the system were obtained according to the planning motion. The result indicates that the correctness, simplicity and validity of the model are verified. Therefore, the dynamic requirements of the manipulator are satisfied with high dexterity. And this research established a foundation for trajectory planning and accurately motion control.%针对温室等设施农业环境,设计了一种具有3P3R机械臂结构的机器人,为了分析机械臂的操作性能并实现精确运动控制,对机械臂进行了运动学和动力学分析；采用Kane方法和旋量理论分析方法建立了机器人的操作臂运动学和动力学模型,利用该模型,针对原理样机的具体结构,在Mathematica环境下研究了机械臂的操作性能,得到在一定作业任务规划下,末端执行器的位姿变化规律,以及按照该规划轨迹运动时各关节的驱动力；结果表明,结合了Kane方法和旋量理论的动力学模型具有准确、简单、有效等特点,能够满足机械臂的运动学、动力学分析的要求.
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