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，各关节的运动学逆解唯一，计算简单，运算，别是于具有多冗馀度的机器人，此法能够避免奇异解的讨论，提高计算效。

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.

负阻元器件性进行研究和分析的基础上引出负阻效应的概念,负阻效应产生方式和原理进行了论述。