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.

在对负阻元器件特性进行研究和分析基础上引出负阻效应,对负阻效应产生方式和理进行了论述。

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

结果表明，运动学逆解唯一，计算简单，运算量小，特别是对于具有多冗馀度机器人，此法能够避免奇异解讨论，提高计算效率。