CaPaMan (Cassino Parallel Manipulator) is a threedegree of freedom parallel mechanism that has been designed and built at Laboratory of Robotics and Mechatronics in Cassino. In this paper a study of the configuration singularities of the CaPaMan manipulator is presented by considering two different methods: an algebraic formulation and a vector analysis. It will be shown that a formulation can give singularity related to the failure of the kinematic model at particular configurations of the

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... pulator. It will also be proved that this type of singularity can be avoided by a proper analysis of the problem.