该文提出确定机构奇异位置的两种方法：三角化法和矩阵法。
In this paper, triangular method and matrix method have been suggested inorder to determine singular position of mechanisms.
只要一个基本运动链达到奇异位置时，该复杂机构即处于奇异位置。
When a basic kinematic chain reaches a singular configuration, the complex linkage is at a singular position.
仅当一个基本运动链达到奇异位置时，该复杂机构即处于奇异位置。
Whenever only one of the basic kinematic chains reached to a singular position, it shows that this complex linkage is situated in a singular position.
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