Aiming at the deployable joints in truss antenna,considering them as separate rockers,breaking up the function,its movement reliability was found to have two parallel performance functions:the performance function according to deploying work and that according to deploying moment.

In order to improve the driving performance of existing robot,an artificial-muscle-based method is proposed to design novel driving joints.

But sometimes,it is necessary to analyze the dynamics of driven joints,separating the dynamic and static items of the output from force sensor fixed on the driven joint,or to optimize a manipulator with closed loops.

Nonholonomic motion planning for two planar rigid bodies with passive joint;

Application of virtual instrument in calibration of rotation joints;