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

Table 2

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

Order	Gait planning of rolling mode	Study the singularity in each gait
step1 to step2		According to Table 1, from step1 to step2, the singular configurations shown in Table 1 do not appear.
step 2 to step3		During this process, the singular configuration that may occur according to Table 1 is the constrained singular configuration
Step3 to step4		According to Table 1, from step3 to step4, the singular configurations shown in Table 1 donot appear.