The Jacobin matrix and the analytical expressions for the discrimination of singular configuration signified by numerals-symbols were derived, and an analysis was carried out on the operability and singularity of this parallel mechanism.

• 推导了雅可比矩阵和数字-符号表示的奇异位形判别的解析表达式,对该并联机构的可操作性和奇异性进行了分析。