This paper introduces a novel micro-electromotor driven serial manipulator used in welding small pipes and containers and inspecting the weld quality of the inner wall.

The inverse dynamic modeling and simulation of a 4-DOF serial manipulator;

In this paper we refer to traditional solutions of the inverse kinematics of a serial mechanisms, double quaternions is introduced firstly to inverse kinematics analysis of 6 DOF serial manipulator and try to develop a new universal algorithm for inverse solution of all kinds of 6 DOF serial manipula.

Research on Microhand with SME;

Pre-estimation and optimization design on the static and dynamic characteristics of high-speed parallel manipulator;

Dynamics modeling and computed moment control of high speed parallel manipulator;

Kinematical calibration method for high-speed parallel manipulator;

The PLC-based Control Technology of a High-speed Parallel Robot;

Kinematics analysis on forward and inverse model of new-type parallel robot;

An effective method of time optimal path planning was proposed for the Diamond robot,a newly invented 2 degree of freedom(2-DOF) high-speed translational parallel robot for rapid pick-and-place operations.