在机器人学的理论基础上，建立了机器人模型的D-H 坐标系，并对相邻坐标系间的变换矩阵作了改进，使D-H 方法更具有通用性。

D-H coordinate systems of the robot are set up, and the transformation matrixes of near two links are improved on to make D-H method more general.

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新的键指数X考虑了分子的图形特征，顶点原子的性质，顶点原子与相邻原子的键合情况，并以矩阵的形式把这些特征表达出来。

A novel link index X proposed deals with the feature of molecule graph, the property of vertical atom and the bonding of atoms connected to each other. Matrices are used to represent these characters.

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采用传递矩阵法推导了结构中相邻单胞间的传递矩阵，给出了结构中波动局部化因子的表达式，并给出了数值算例，分析了压电材料各参数对局部化因子的影响。

The expression of localization factor is given by Wolf algorithm, numerical examples are presented and the effects of various parameters of piezoelectric material on localization factor are analyzed.

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