Singularity of parallel robots is in statics, not in instantaneous kinematics. At a singular configuration, a parallel robot loses a freedom in constraints, and gains a freedom in motion in the direction of the reciprocal screw. This singularity is dual to the singularity of serial robots in instantaneous kinematics. If a parallel robot has articulated legs, a kinematic singularity in addition to static singularity can happen. A linkage robot can be viewed as a semi-parallel robot, and its singularity has the same characteristics as an articulated-legged parallel robot.

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