Deduced is the singularity expression of 6-SPS parallel manipulator in the Euler parameter space at a certain position.Then the orientation-singularity loci is described by using computer.

• 推导出6-SPS并联机器人动平台处于给定位置时机构在三维空间中的姿态奇异轨迹解析表达式,并利用计算机给出其姿态奇异轨迹的三维可视化描述。