To solve the problem of whether or not singularity when moving platform rotating around second moving shaft of a moving coordinate system at 0or 90

the movement pseudo singularity of a parallel mechanism is analyzed.Combininging a Stewart cross-legged parallel mechanism

under the condition of moving platform rotating around second moving shaft of a moving coordinate system at 0

the movement pseudo singularity of a parallel mechanism produced by z-y-z Euler angle is introduced.From aspects of a rotation angle around a moving shaft and moving coincidence shaft

the reason and location of movement pseudo singularity are analyzed.It is presented that reason of movement pseudo singularity is that description of parameter differential of a moving platform degenerates from angles of rotating around three moving shafts to angles of rotating around two moving shafts.Coincidence location of first-end moving shaft of 12kinds of Euler angle is location of movement pseudo singularity of a parallel mechanism.