This paper presents a novel approach to enhancing the energy efficiency of 3-PUU parallel manipulators through the strategic integration of passive springs, with a primary focus on actuation force trends as an initial indicator of mechanical efficiency. The proposed design incorporates linear springs in specific actuator paths to assist with load compensation and reduce the force requirements of active drives. A detailed analysis of the manipulator’s kinematics and statics is conducted to identify optimal locations for spring placement. A quasi-static model is developed to evaluate the reduction in actuator effort across various trajectories. Comparative simulations are performed between the original and spring-integrated designs, demonstrating significant improvements in actuation energy consumption. The results validate that passive spring integration is a viable solution for reducing operational energy demands in parallel manipulators.
