Singularity analysis is an essential issue for the development and application of parallel manipulators.Most of the existing researches focus on the singularity of parallel manipulators are carried out based on the study of Jacobian matrices.A 3-DOF parallel manipulator with symmetrical structure is presented.The novel parallel manipulator employs only revolute joints and consists of four closed-loop subchains connecting to both base and platform via revolute joints.The closed-loop subchain in each chain-leg is a spherical 6R linkage.The motion characteristics of the output link in the spherical 6R linkage with symmetrical structure are analyzed based on the interrelationships between screw systems.The constraints that are exerted on the platform by each chain-leg are investigated applying the concept of generalized kinematic pair in terms of equivalent screw system.Considering the geometric characteristics of the parallel manipulator,the singularity criteria of the parallel manipulator corresponding to different configurations are revealed based on the dependency of screw system and line geometry.The existing conditions of certain configuration that a singularity must occur are determined.This paper presents a new way of singularity analysis based on disposition of constraint forces on the geometrically identified constraint plane and the proposed approach is capable of avoiding the complexity in solving the Jacobian matrices. Singularity analysis is an essential issue for the development and application of parallel manipulators. Most of the existing researches focus on the singularity of parallel manipulators are carried out based on the study of Jacobian matrices. A 3-DOF parallel manipulator with symmetrical structure is presented. The novel parallel manipulator employs only revolute joints and consists of four closed-loop subchains connecting to both base and platform via revolute joints. The closed-loop subchain in each chain-leg is a spherical 6R linkage. The motion characteristics of the output link in the spherical 6R linkage with symmetrical structure are analyzed based on the interrelationships between screw systems. constraints that are exerted on the platform by each chain-leg are applied applying the concept of generalized kinematic pair in terms of equivalent screw system .Considering the geometric characteristics of the parallel manipulator, the singularity criteria of the parallel manipulato r corresponding to different configurations are revealed based on the dependency of screw system and line geometry. the existing conditions of certain configuration that a singularity must occur are.This paper presents a new way of singularity analysis based on disposition of constraint forces on the geometrically identified constraint plane and the proposed approach is capable of avoiding the complexity in solving the Jacobian matrices.