The computers themselves aren't double insulated, no. The power supplies should isolate the potentials the computer uses, but it's always a good idea to ground them. In the UK and other countries with a mandatory 3-pin plug, Amigas have their shield grounded all the time. It will work fine without it, but it probably helps reduce noise in the audio and video circuits, as well as protecting you in case anything in the PSU fails and lets mains electricity flow into the computer.
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