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This paper presents the inverse dynamics analysis of 3-RRRT parallel manipulator with three translational degrees of freedom. Firstly, kinematic analysis of 3-RRRT parallel manipulator is completed using screw theory. Second, the generalized forces of moving platform and all links are expressed in screw formation. Based on these work, the inverse dynamic formula of the manipulator is gotten by the combination of screw theory and the principle of virtual work, Finally, numerical examples are reported.