中文摘要：

研究了一种新型6自由度3支链并联机器人的奇异位形，利用机构的运动学反解方程扣雅可比矩阵得出了精确的奇异位形的解析形式。从运动学角度分析，奇异位形有3类形式，每种形式都具有不同的物理意义。研究了该并联机器人的第一类扣第二类奇异住形，并画出了4种特殊位置的奇异位形。奇异位形的分析对该并联机器人的轨迹规划扣控制具有重要的意义。

英文摘要：

The paper studied the singularity loci of a new 6-DOF and 3-limbed parallel manipulator, and their precise analytical expressions were obtained by utilizing the parallel manipulator＇s inverse kinematic equations and Jacobian matrix. Kinematic analysis reveals three forms of singularity loci, each of which has its own physics meaning. The first two forms of singularity loci were studied and their schematics were given in Figs. 5 through 8 in the full paper. The study sheds light on robot＇s trajectory planning and control.