机械设计及理论
美国机械工程师学会（ASME）Fellow，英国机械工程院（IMechE）Fellow，天津大学机械工程学院教授，博导，
教授
变胞多指机械手活动机理之工作空间、操作度和灵巧度研究

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TJU/KCL变胞仿生手之仿真技术研究

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少自由度并联机构创新与系统集成设计

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连续型软体机器人机构设计与运动模态研究

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连续型仿生机器人机构设计与驱动控制关键技术研究
具有可变形手掌的仿人灵巧手

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可变构型虎克铰

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仅含转动副的精确直线运动机构

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空间精确直线运动机构

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可检测传动力并进行传动的装置
采用变胞机构——球面五杆机构作为灵巧手手掌，比一般灵巧手具有更大的灵活性，操作度。

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提出一种可变轴线，实现多种运动副功能的变胞运动副

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提出一种仅含运动副的，能输出准确直线运动的机构

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提出一种能够准确输出直线运动的机构

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提出一种可检测力并能传递运动的装置
Mobility in IVIetamorphic IVIechanisms of Foldable/ Erectable Kinds

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Mobility of overconstrained parallel mechanisms

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Product Cost Estimation: Technique Classification and Methodology Review

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Matrix Representation of Topological Changes in Metamorphic Mechanisms

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Interrelationship between screw systems and corresponding reciprocal systems and applications

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Sprained ankle physiotherapy based mechanism synthesis and stiffness analysis of a robotic rehabilitation device

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Null–space construction using cofactors from a screw–algebra context

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Compliance Analysis of a Three-Legged Rigidly-Connected Platform Device

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An historical review of the theoretical development of rigid body displacements from Rodrigues paramet ers to the finite twis

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Topology and Constraint Analysis of Phase Change in the Metamorphic Chain and Its Evolved Mechanism

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Mobility analysis of a complex structured ball based on mechanism decomposition and equivalent screw system analysis

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Biological Modeling and Evolution Based Synthesis of Metamorphic Mechanisms

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A Linear Algebraic Procedure in Obtaining Reciprocal Screw Systems

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Posture, Workspace, and Manipulability of the Metamorphic Multifingered Hand With an Articulated Palm

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A six-component contact force measurement device based on the Stewart platform

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Mobility Change in Two Types of Metamorphic Parallel Mechanisms

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Geometric Analysis and Synthesis of the Metamorphic Robotic Hand

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Prehension Analysis and Manipulability of an Anthropomorphic Metamorphic Hand with a Reconfigurable Palm

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KINEMATIC ANALYSIS AND PROTOTYPE OF A METAMORPHIC ANTHROPOMORPHIC HAND WITH A RECONFIGURABLE PALM

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Constraint analysis and bifurcated motion of the 3PUP parallel mechanism

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Finite Displacement Screw Operators With Embedded Chasles’ Motion

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A High-performance Redundantly Actuated Parallel Mechanism for Ankle Rehabilitation

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Reciprocity-Based Singular Value Decomposition for Inverse Kinematic Analysis of the Metamorphic Multifingered Hand

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Design and kinematic analysis of a novel prism deployable mechanism