Prime - Yes, unless you find all of the upgrades along the way by checking a guide. If you just find an average amount of upgrades it's much harder. Omega Pirate and the final boss are very hard even with full health and ammunition.
Prime 2 -Easier than Prime 1; do-able without many items. Boost Guardian, Quadraxis and Emperor Ing present the toughest challenges, but less so than Prime 1.
Prime 3 - Got so disillusioned halfway through that I didn't finish it. So can't tell.