Abstract Based on kenimatic analysis of 3-RTT parallel mechanism, the velocityequation and analytical expression of Jacobin matrix are established. And then space model of this parallel mechanism is derived by adopting space model theoryand then research on its singularity loci is carried out too. By utilizing numerical method, singularity loci curve at different section of Z axis of representative non\|dimensional parallel mechanism in sub-region of space model is obtained. The results provide reference of design of 3-RRT parallel mechanism.
