This　paper　presents　a　quantitative　analysis　comparing　the　elastodynamic　performance　of　a　redundantly　actuated　parallel　manipulator　to　its　non-redundantly　actuated　counterpart.　A　unified　elastodynamic　model　is　established　to　encompasses　both　actuation　types,　facilitating　a　comprehensive　analysis　of　their　performance　characteristics.　To　assess　the　impact　of　redundant　actuation,　frequency　variation　indices　are　defined　to　measure　the　influence　of　the　redundantly　actuated　limbs　on　the　overall　system　dynamics.　Two　global　sensitivity　indices　are　introduced　to　quantify　how　variations　in　design　variables　affect　elastodynamic　performance.　An　adaptive　Kriging-based　algorithm　is　developed　to　predict　elastodynamic　behavior,　and　it　is　numerically　validated　for　both　accuracy　and　efficiency.　Through　a　detailed　elastodynamic　comparison　and　sensitivity　analysis,　we　identify　the　key　effects　of　redundant　actuation　and　pinpoint　the　most　significant　design　variables.　Our　findings　reveal　that　the　enhancements　in　low-order　natural　frequencies　due　to　redundant　actuation　are　configuration-　and　order-dependent.　The　redundantly　actuated　parallel　manipulator　demonstrates　heightened　sensitivity　to　geometric　variables　in　terms　of　elastodynamic　performance,　surpassing　that　of　its　non-redundantly　actuated　variant.　The　sensitivity　analysis　provides　valuable　insights,　guiding　future　improvements　in　elastodynamic　performance.　Notably,　the　thickness　of　the　moving　platform　emerges　as　a　critical　parameter　that　warrants　optimization　during　the　design　phase.　Therefore,　this　analysis　is　particularly　pivotal　in　the　initial　evaluation　stages　of　parallel　manipulators,　ensuring　that　designs　are　refined　for　enhanced　dynamic　responses.　With　necessary　modifications,　this　work　can　be　applied　to　other　redundantly　actuated　parallel　manipulators　to　contribute　a　deeper　understanding　of　how　redundancy　influences　their　dynamic　characteristics.　©　2025