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.

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在局部三角化中考虑了三角形内角和顶点距离，采用规格化最小顶点距离法实现局部三角化，避免了狭长三角形出现。

A new re-triangulation method based on normalized minimum-vertex-distance was presented to avoid long and thin triangles, and it considered the vertex distance and the interior Angle of triangle.

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本文研究了点插值法中以单项式为基函数的形函数的建立及其性质，并通过矩阵三角化算法来克服形函数矩阵大奇异性。

This paper presents the construction of the shape functions using the monomial basic function and describes the properties of the shape functions.

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