1.The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

1.结果表明，各关节的运动学逆解唯一，计算简单，运算量小，特别是对于有冗馀度的机器人，此法能够避免奇异解的，高计算效率。

2.Based on the research on the characteristic of the dynatron component and parts of an apparatus, the concept of dynatron effect was educed, and the engendering mode and principle was discussed.

2.在对负阻元器件特性进行研究和分析的基础上引出负阻效应的概念,对负阻效应产生方式和原理进行了述。