A New Mathematical Method to Study the Singularity of 3-RSR Multimode Mobile Parallel Mechanism

Table 1

Study the singularity of the 3-RSR PM in the fixed mode.

Order	Geometric characteristics	Mechanism constrained reciprocal screws sptial representation	Mechanism driven reciprocal screw spatial representation
1	General position
2	Complete; coincidence of three spherical joints
3	The connecting rods and the upper platform are in the same plane
4	The connecting rods are parallel in space
5	The axes of the connecting rods coincide with the axes of the driving rods		Currently, the mechanism driving reciprocal screws do not exist, and the mechanism has structural singularity.