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

Table 3

Study the singularity of the 3-RSR PM in self-traversing mode.

Order	Gait planning	Study the singularity in each gait
Step1		According to Table 1, the mechanism is in the constrained singular configuration at step 1.
Step2		In step 2, Table 1 shows that the mechanism is in a structurally singular state.
Step3		In the process of step 3 to step 4, the singular configurations shown in Table 1 do not appear.
Step4		In the process of step 4 to step 5, Table 1 show that the mechanism is in the structure singular configuration and constrained singular configuration.
Step5		According to Table 1, the mechanism is in the constrained singular configuration in step 5.