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Name:Gao Feng
Title:Professor
Website:
Tel:021-34206297
Research fields:
Address:902 ME Building A
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Main Achievements:

My chief research domain is the parallel robots. The major achievements obtained include the three aspects , which are the theory, invention and application of parallel robots. In the theory aspect, the physical model of the solution space for mechanical dimensional design of macro and micro parallel manipulators, the special Gf coordinates for the  type synthesis of parallel robots and the criteria  for  design of reducible parallel mechanisms were proposed. More than 123 papers and  3 books about parallel manipulators were published . In the invention aspect, the 116 invention patents of China were applied, which are related to many kinds of parallel robots,  parallel machine tools, micro parallel manipulators, multi-axis force/torque sensors with the parallel structures. And 86 of them were authorized. In the application aspect, the 6-axis micro force and torque sensors with the Stewart platform structures, the 6-axis mouse for VR, the 5-DOF parallel machine tool, 6-axis micro-parallel manipulator were developed.

 

Education:

l  1991, PhD in Mechanical EngineeringBeijing University of Aeronautics and Astronautics Beijing, P. R. China.

l  1982, Master in Mechanical Engineering, Northeast Heavy Machinery InstituteP. R. China.

l  1979, Bachelor in Mechanical Engineering, Northeast Heavy Machinery InstituteP. R. China.

 

Professional Experience:

l  2004-present, Full Professor, Director of State Key Lab of Mechanical System and Vibration , Shanghai Jiaotong University, Shanghai, P. R. China.

l  2002-2004, President and Full Professor, Hebei University of Technology, Tianjin, P. R. China.

l  1999-2002, Vice-President, and Full Professor, Hebei University of Technology, Tianjin, P. R. China.

l  1997-1999, Full Professor, Yanshan University, Qinhuangdao, P. R. China.

l 1995-1997, Postdoctoral Research Associate, Intelligent Robotics and Manufacturing Systems Laboratory, School of Engineering Science, Simon Fraser University, and Burnaby, BC, Canada.

l  1995, Full Professor, Yanshan University, Qinhuangdao, P. R. China.

l  1991-1994, Associate Professor, Yanshan University, Qinhuangdao, P. R. China.

l  1985-1990, Lecturer, Yanshan University, Qinhuangdao, P. R. China.

l  1984-1985, Lecturer, Northeast Heavy Machinery Institute, Qiqihaer, P. R. China.

l  1982-1984, Assistant, Northeast Heavy Machinery Institute, Qiqihaer, P. R. China.

 

Journal Editorial Boards:

l  ASME J. of Mechanism & Robotics                        Associate Editor
l  ASME J. of Mechanical Design                              Associate Editor
l  
Mechanism & Machine Theory                               Associate Editor
Journal of Bionic Engineering                              Editorial Board
l  The Archive of Mechanical Engineering, PAS        Advisory Board
l  Int. J. of Mechanisms and Robotic Systems           Associate Editor

 

Professional Society Activities:

l
  General Member
, ASME Mechanisms and Robotics Committee, 2012-Current
l Deputy Chair, Mechanism and Machine Theory Committee, Chinese Mechanical Engineering Society, 2013-Current
l   Commissary, the 5th Science and Technology Committee, Ministry of Education, China, 2004-2008

 

Research Interests:

l  Parallel robotic mechanism design theory

l  Multi-axis force/torque sensors

l  Multi-DOF parallel Micromanipulators

l  Design of linkages

l  CNC parallel machine tools

l  Earthquake simulator

l  Robots for micro cutting and micro cloning of chromosomes

 

Award:

 

1. Feng Gao, Xinjun Liu, Xianchao Zhao, Zhenlin Jin, Weimin Li, "Type and Dimension Design for Parallel Robotic Mechanisms", The State Nature Science Award, 2013.

2. Bingtao Han, Yachen Lv, Feng Gao, “165MN free forging press”, first prize of progress of science and technology2009

3. Feng Gao, Zhenlin Jin, Weizhong Guo, Xianchao Zhao, Yong Zhang, “Design and application of parallel robot mechanism”, first prize of Natural Science Award of Ministry of Education, 2008

4. Feng Gao, Shunxin Zhang, Shuncheng Fan“Research and practice of  reforming the practice education of the mechanical engineering speciality ” the 1st prize of Hebei Provincial Teaching Achievements, 2004.

5. Feng Gao, Weimin Li, Zhenlin Jin, “Type synthesis, design methods and key technique of parallel machine tools”, the 2nd prize of Hebei Province’s Science and Technology Invention, 2004.

6. Feng Gao, Zhenlin Jin, Xianchao Zhao, “6-axis micro force/torque sensors with parallel structures”, the 1st prize of Hebei Province’s Science and Technology Invention, 2002.

7. Zhen Huang, Feng Gao, Deyong Liu, “Theory of the force and moment balancing of linkages”, the 2nd prize of Hebei Province’s Science and Technology advancement, 1993.

8. Jihou Yang, Feng Gao, “Physical model of solution space and property atlases of four bar linkages”, the 1st prize of the Science and Technology advancement of China Mechanical Engineering Ministry, 1984.


Previous and Present Students: 

Year

PhD Students

MS Students

 
 

1985

 

Xinhua Zhao

 

1993

 

Xiaoqiu Zhang

 

1994

 

Xinjun Liu

 

1995

 

Xu Chen

 

1996

Xinjun LiuYanshan Univ.

 

 

1997

 

Aimin Niu

 

1998

Xianchao ZhaoYanshan Univ.

Haidong Wang

 

1999

Zhenlin JinYanshan Univ.

Binbin PengJunchao WangBaogang Yang

 

2000

Jinliang LiYanshan Univ.Hui zhao(Beihang Univ.)Ruiling Li

Yulong ChenJian ShiYanfei ZhangZheng GaoJianxiong Li

 

2001

Xiaohui ZhangYanshan Univ.

Jianjun ZhangBeihang Univ.

Lianyu ZhaoHebei Univ. of Tech

Ming CHenBeihang Univ.

Wei Liu

Kaicheng Qi

Hongxiu Zhou

 

2002

Yong ZhangYanshan Univ.

5 students

 

2003

Binbin PengBeihang Univ.Yanfei ZhangBeihang Univ.Cunliang NiuHebei Univ. of Tech

Qiaoshuo ShiHebei Univ. of TechXueliang BianHebei Univ. of TechZheng Gao  Hebei Univ. of Tech

Yanliang GongYanshan Univ.Yulin ZhouYanshan Univ.

Qiaolian An

Faguo Yu

 

2004

Wei LiuBeihang Univ.Kaicheng Qi Beihang Univ.Yi YueYanshan Univ.

Lan WangHebei Univ. of TechTiehong GaoHebei Univ. of TechJianbo ZhaoHebei Univ. of Tech

6 students

 

 

2005

Zhisong TianJialun Yang

Xiaogang QianPeng YuPengliang Liu

 

2006

Changya YanHao Ge

 

 

2007

Yongjun BaiJianzheng ZhangLifeng Shi

Xing Tong

 

2008

Xinghua TianXiaobing ChuBaochen WeiJin Feng

Yunlu Gu

 

2009

Xianbao ChenYu LiuTaoran Liu

 

 

2010

Yunjie MiaoDalei Pan

 

 

2011

Yi DongRui CaoYang PanXiangdun Meng

 

 

2012

Jianxun FuXun Chai

Yilin XuDa XiKai Hu

 

2013

Weixing ChenDu Hui Qiao Sun

 

 

2014

 

Yuan TianYinan ZhaoZhijun Chen

 

PUBLICATIONS and PATENTS:

Books:

1.     Feng Gao, Jialun Yang,Topology synthesis for parallel robotic mechanisms, the CAS Publications, 2013

2.     Feng Gao, Jialun Yang, Qiaode Ge,《GF Set Theory of Type Synthesis for Parallel Robotic Mechanisms》,China Science Press, 2011

3.     Jihou Yang, Feng Gao,Physical Model and Property Atlas of 4-Bar linkages》,China mechanical industry  Press, 1989.

 

Partial Article Publications in International Journals:

 1.     Taoran Liu, Feng Gao, Xianchao Zhao, Chenkun Qi. Static balancing of spatical six-degree-of-freedom decoupling parallel mechanism. Journal of Mechanical Science and Technology, 2014,1(28): 1-9

2.     Yunjie Miao, Feng Gao, Dalei Pan. Mechanical Design of a Hybrid Leg Exoskeleton to Augment Load-Carrying for Walking. International Journal of Advanced Robotic Systems, 2013, DOI: 10.5772/57238

3.     Yunjie Miao, Feng Gao and Yong Zhang. Gait Fitting for Snake Robots with Binary Actuators. SCIENCE CHINA Technological Sciences, 2013, DOI: 10.1007/s11431-013-5405-0

4.     Pan Yang, Gao Feng. A New 6-Parallel-Legged Walking Robot For Drilling Holes On The Fuselage, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2013, DOI: 0954406213489068

5.     Pan Yang, Gao Feng. Leg kinematic analysis and prototype experiments of walking-operating multifunctional hexapod robotProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2013, DOI: 0954406213516087

6.     Xianbao Chen, Feng Gao, Chenkun Qi, Xinghua Tian, Jiaqi Zhang. Spring Parameters Design for the New Hydraulic Actuated Quadruped Robot, Journal of Mechanisms Robotics, 2013, DOI:10.1115/1.4025754

7.     Dalei Pan, Feng Gao, Yunjie Miao. Dynamic research and analyses of a novel exoskeleton walking with humanoid gaits. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2013, DOI:0954406213509611

8.     Dalei Pan, Feng Gao, Xun Huang, Yunjie Miao. Kinematic accuracy reliability research of a novel exoskeleton with series-parallel topology. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2013, DOI: 0954406213511239

9.     Xiangdun Meng, Feng Gao. Basic problems and criteria for synthesis of robotics. International Journal of Mechanisms and Robotic Systems, 2013, 1(1): 35-48

10.   Feng Gao, Weizhong Guo, Wei Chen. Design in Mainland China, Guest Editorial, ASME Journal of Mechanical Design, 2012, 134(8): 1-3

11.   Yang Jialun, Gao Feng, Ge Qiaode Jeffrey, Zhao Xianchao, Guo Weizhong, Jin Zhenlin. Type synthesis of parallel mechanisms having the first class G(F) sets and one-dimensional rotation, Robotica, 2012, 29:895-902

12.   Bai Yongjun, Gao Feng, Guo Weizhong. Design of mechanical presses driven by multi-servomotor, Journal of Mechanical Science and Technology, 2012, 25(9): 2323-2334

13.   Yi Yue, Feng Gao, Zhenlin Jin, Xianchao Zhao. Modeling and Experiment of a planar 3-DOF parallel Micro-manipulator, Robotica, 2012, 30(2): 171-184

14.   Xun Huang, Chunxiang Ma, Suxing Wu, Qian Wang, Zhibo Wang, Feng Gao. Design and research of a novel type of mechanical presses driven by three servo motors in parallel. Proceedings of the Institution of Mechanical Engineers, Part C: J Mechanical Engineering Science, 2012, doi: 10.1177/0954406212464933

15.   C Qi, H Li, S Li, X Zhao, F Gao. Probabilistic PCA based spatio-temporal multi-modeling for nonlinear distributed parameter processes, Industrial & Engineering Chemistry Research, 2011, 51:6811-6822

16.   C Qi, H Li, S Li, X Zhao, F Gao. Kernel based spatio-temporal multi-modeling for nonlinear distributed parameter industrial processes. Industrial & Engineering Chemistry Research, 2011, 51, 13205-13218

17.   Baochen Wei, Feng Gao, Jie Chen, et al. A method for selecting driving system parameters of a new electric shovel's excavating mechanism with 3-DOF, Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, 2011, 225(11): 2661-2672

18.   Baochen Wei, Feng Gao, Jie Chen, et al. Mechanics Performance of a 3-DOF Excavating Mechanism of electric Shovel, Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, 2011, 225(6): 1443-1457

19.   Zhisong Tian, Feng Gao, Yong Zhang, Xianchao Zhao. Dynamic characteristic of the scanning system used for online measurement system of large hot forgings. Transactions of the Institute of Measurement and Control, 2011, 33(2): 246-259

20.   Yongjie Zhao, Feng Gao. A novel approximation algorithm for the direct position analysis of the 8PSS redundant parallel manipulator, Advances and Applications in Mechanical Engineering and Technology, 2010, 1(2): 147-165

21.   Yi Yue, Feng Gao, Xianchao Zhao, Q. Jeffrey Ge. Relationship Among Input- Force, Payload, Stiffness, and Displacement of a 3-DOF Perpendicular Parallel Micromanipulator, Mechanisms and Machine Theory, 201045(5): 756-771

22.   Yi Yue, Feng Gao, Xianchao Zhao, Q. Jeffrey Ge. Relationship Among Input-Force, Payload, Stiffness, and Displacement of a 6-DOF Perpendicular Parallel Micromanipulator, Journal of Mechanisms and Robotics, 2010, 2(1): 1-9

23.   Yan C, and Gao F. Simulation of Programmed Incremental Open-die Forging Processes Based on Spread Coefficient and Geometric Transformation. Proceedings of the Institution of Mechanical Engineers, Part E, Journal of Process Mechanical Engineering, 2010, 224(2)129-135

24.   X Chu, F Gao, W Guo, C Yan. Complexity of heavy-payload forging manipulator based on input/output velocity relationship. Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, 2010, 224(11): 2468-2476

25.   Yan C, Gao F, and Zhang Y. Kinematic Modeling of a Serial-parallel Forging Manipulator with Application to Heavy-duty Manipulations. Mechanics Based Design of Structures and Machines, 2010, 38(1): 105-129

26.   Yongjie Zhao, Feng Gao. Dynamic performance comparison of the 8PSS redundant parallel manipulator and its non-redundant counterpart-the 6PSS parallel manipulator. Mechanism and Machine Theory, 2009, 44(5): 991-1008

27.   Yongjie Zhao, Feng Gao. Dynamic formulation and performance evaluation of the redundant parallel manipulator, Robotics and Computer-Integrated Manufacturing, 2009,25(4-5): 770-781

28.   Yongjie Zhao, Feng Gao, Weimin Li, Wei Liu, Xianchao Zhao. Development of 6-dof parallel seismic simulator with novel redundant actuation. Mechatronics, 2009, 19(3): 422-427

29.   Yan C, Gao F, and Guo W. Coordinated kinematic modelling for motion planning of heavy-duty manipulators in an integrated open-die forging centre, Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 2009, 223(10):1299-1313

30.   Jialun Yang, Feng Gao, Zhenlin Jin, Lifeng Shi. Classification of lying states for the humanoid robot SJTU-HR1, Science in China Series E: Technological Sciences, 2009, 52(5): 1301-1311

31.   Jialun Yang, Feng Gao, Zhenlin Jin, Classification of standing states for the humanoid robot SJTU-HR1, International Journal of Social Robotics, 2009, 1(4): 331-344

32.   Jialun Yang, Feng Gao, Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism, Frontier of Mechanical Engineering in China, 2009,4(4): 379-385

33.   Zhisong Tian, Feng Gao, Zhenlin Jin, Xianchao Zhao. Dimension measurement of hot large forgings with a novel time-of-flight system. International Journal of Advanced Manufacturing Technology, 2009, 44(1-2):125-132

34.   Yan C, Gao F, and Guo W. Coordinated kinematic modelling for motion planning of heavy-duty manipulators in an integrated open-die forging centre, Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 2009, 223(10): 1299-1313

35.   Jialun Yang, Feng Gao, Zhenlin Jin, Lifeng Shi. Classification of lying states for the humanoid robot SJTU-HR1, Science in China Series E: Technological Sciences, 2009, 52(5): 1301-1311

36.   Yongjie Zhao, Feng Gao. Inverse dynamics of the 6-dof out-parallel manipulator by means of the principle of virtual work. Robotica, 2009, 27: 259-268

37.   Jialun Yang, Feng Gao, Lifeng Shi, Zhenlin Jin. State classification for human hands, Journal of Bionic Engineering, 2008, 5(Suppl): 158-163

38.   Jialun Yang, Feng Gao, Lifeng Shi, ZhenlinJin, State classification for humanoid robots, Applied Bionics and Biomechanics, 2008, 5(4): 167-174

39.   F. Gao, B. B. PengH. Zhao, W. M. Li. A novel 5-DOF fully parallel kinematic machine tool, International Journal of Advanced Manufacturing Technology, 2006, 31(1-2): 201-207

40.   F. Gao, Y. Zhang, W.M. Li. Type synthesis of 3-DOF reducible translational mechanisms. Robotica, 2005, 23: 239-245

41.   Feng Gao, Binbin Peng, Weimin Li, Hui Zhao. Design of a novel 5-DOF parallel kinematic machine tool based on workspace, Robotica, 2005, 23(1): 35-43

42.   W. Li, Feng Gao, J. Zhang. R-CUBE, a decoupled parallel manipulator only with revolute joints, Mechanism and Machine Theory, 2005, 40(4): 467-473

43.   Weimin Li, Feng Gao, Jianjun Zhang. A three-DOF translational manipulator with decoupled geometry, Robotica, 2005, 23:805-808

44.   X. J. Liu, J. S. Wang and F. Gao. Workspace Atlases for the Design of Spherical 3-DOF Serial Wrists, Journal of Intelligent and Robotic Systems, 2003, 36: 389-405

45.   Jin Zhenlin, Gao Feng, Zhang Xiaohui. Design and analysis of a novel isotropic six-component force/torque sensor, Sensors and Actuators, 2003, 109:17-20

46.   F. Gao, W.M. Li, X.C. Zhao. New kinematic structures for 2-, 3-, 4-, and 5-dof parallel manipulator designs. Mechanism and Machine Theory, 2002, 37:1395-1411

47.   X Liu, J Wang, F Gao, L Wang. The mechanism design of a simplified 6-DOF 6-RUS parallel manipulator, Robotica, 2002, 20(1): 81-91

48.   F. Gao, X.J. Liu. The relationships between the shapes of the workspaces and the link lengths of 3-DOF symmetrical planar parallel manipulators, Mechanism and Machine Theory, 2001, 36(2): 205-220

49.   Xin-Jun Liu, Jinsong Wang, Feng Gao. On the Analysis of a New Spatial Three Degrees of Freedom Parallel Manipulator, IEEE Transactions on Robotics and Automation, 2001, 17(6): 959-968

50.   Xin-jun Liu, Jinsong Wang, Feng Gao. Performance atlases of the workspace for planar 3-DOF parallel manipulators. Robotica, 2000, 18(5): 563-568

51.   X. J. Liu, Z.L. Jin, Feng Gao. Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices, Mechanism and Machine Theory, 2000, 35(9): 1257-1267

52.   Yuru Zhang, W. A. Gruver, F. Gao. Dynamic simplification of three degree of freedom manipulators with closed chains, Robotics and Autonomous Systems, 1999, 28: 261-269

53.   F. Gao, X. J. Liu, W. A. Gruver. Performance Evaluation of Two Degree of Freedom Planar Parallel Robots, Mechanism and Machine Theory, 1998, 33(6): 661-668

54.   Feng Gao, Y. S. Zhao ,Z. H. Zhan. Physical model of the solution space of 3-DOF parallel planar manipulators, Mechanism and Machine Theory, 1996, 31(2): 161-171

55.   Feng Gao, X.Q.Zhang, Y.S.Zhao, H.R.Wang. A physical model of the solution space and the atlases of the reachable workspaces for 2-DOF parallel planar manipulators, Mechanism and Machine Theory, 1996, 31(2):173-184

56.   Feng Gao, X. Q. Zhang, W. B. Zu. Distribution of some properties in a physical model of the solution space of 2-DOF parallel planar manipulators, Mechanism and Machine Theory, 1995, 30(6): 811-817

57.   Feng Gao. Complete shaking force and shaking moment balancing of 17 types of 8-bar linkages only with revolute pairs. Mechanism and Machine Theory, 1991, 2:197-206

58.   Feng Gao. Complete shaking force and shaking moment balancing of 26 types of 4-, 5- and 6-bar linkages with prismatic pairs, Mechanism and Machine Theory, 1990, 25(2): 183-192

59.   Feng Gao. Complete shaking force and shaking moment balancing of 4 types of 6-bar linkages. Mechanism and Machine Theory, 1989, 24(4): 275-287

 

 

Partial Article Publications in International Conferences:

 

1.     Xianbao Chen, Feng Gao, Chenkun Qi, Xinghua Tian, Jiaqi Zhang. Energy Storing Mechanism for A New Hydraulic-Motor Actuated Robot. Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013. August 4-7, 2013, Portland, Oregon, USA

2.     Xianbao Chen, Feng Gao, Chenkun Qi, Xianchao Zhao. Spring Parameters Design to Increase the Loading Capability of a Hydraulic Quadruped Robot. Proceedings of the 2013 International Conference on Advanced Mechatronic Systems, Luoyang, China, September 25-27, 2013

3.     Pan D, Gao F. Dynamic Research of a Novel Exoskeleton with Level Walking. Intelligent Robotics and Applications, Lecture Notes in Computer Science, 2013: 718-729.

4.     Yunjie Miao, Feng Gao and Dalei Pan. Mechanical Design of a Lower Extremity Exoskeleton with Hybrid Legs for Power Augmentation. Intelligent Robotics and Applications, Lecture Notes in Computer Science 2013, V8103: 132-142.

5.     Yang Pan, Feng Gao. Payload Capability Analysis of a New Kind of Parallel Leg Hexapod Walking Robot, Proceedings of the 2013 International Conference on Advanced Mechatronic Systems, Luoyang, China, September 25-27, 2013

6.     Deng Liming, Zhao Xianchao, Qi Chenkun, Gao Feng. A real-time walking robot control system based on linux-RTAI, Proceedings of the 2013 International Conference on Advanced Mechatronic Systems, Luoyang, China, September 25-27, 2013

7.     Jiaqi Zhang, Feng Gao, Xianbao Chen, Chenkun Qi, Xinghua Tian. Trot gait design for baby elephant robot with series CPG model. The Proceeding of 3rdIFToMM International Symposium on Robotics and Mechatronics, 2013.

8.     Xiaolei Han, Feng Gao. Low bit rate speech coding for rescue robots. The Proceeding of 3rdIFToMM International Symposium on Robotics and Mechatronics, 2013.

9.     Meng Xiangdun, Gao Feng, Yang Jialun. The GF Sets: A New Kind Of Performance Criterions of Mechanisms. The ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference. Aug 2012, Chicago, USA.

10.   Yi Dong, Feng Gao, Yi Yue, Jin Feng, Workspace comparison between 3-PRR and 3-RPR micro-manipulator, Proceedings of the ASME 2012 International Design Engineering
Technical Conferences & Computers and Information in Engineering Conference, August 12-15, 2012, Chicago, IL, USA 
 

11.   Pan Yang, Gao Feng. Kinematical model and topology patterns of a new 6-parallel-legged walking robot. Proceedings of the ASME 2012 International Design Engineering Technical Conferences & Computers and information in Engineering Conference IDETC/CIE 2012August 12-15, 2012, Chicago, Illinois, USA


12.   Miao Yunjie, Gao Feng, Zhang Yong. Gait Fitting Algorithms For Snake Robots With Binary Actuators. Proceedings of the ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, 2012August 12-15, 2012, Chicago, Illinois, USA

13.   Cao Rui, Gao Feng. Workspace Research Progress of Parallel Manipulators, The 2012 International Conference on Mechanism and Machine Science, China (CCMMS2012)

14.   GUO Wentao, GUO Weizhong, GAO Feng. The Group-decoupling design of a segment erector based on GF set theory[C]. Chinese Mechanical Engineering Society. The 2012 International Conference on Mechanism and Machine Science, China(CCMMS2012)

15.   WANG Zhibo, MA Chunxiang, HUANG Xun, ZHENG Maoqi, GAO Feng. Analysis of a novel type of device of sea wave power generation. The 2012 International Conference on Mechanism and Machine Science, China (CCMMS2012)

16.   Miao Yunjie, Gao Feng, Zhang Yong. Design and Analysis of Snake Robots with Binary Actuators. The 2012 International Conference on Mechanism and Machine Science, China (CCMMS2012)


17.   Zhou Jun-nan, Guo Wei-zhong. The Workspace and Performance Analysis for the Remote Handling Manipulator for ITERReactor. The 2012 International Conference on Mechanism and Machine Science, China (CCMMS2012)


18.   Xianbao Chen, Feng Gao, Chenkun Qi, Xinghua Tian.  A New Quadruped Locomotion Robot with Parallel Legs. The 6th Asian Conference on Multibody Dynamics. 2012, Shanghai, China

19.   Lorenzo Gagliardini, Xinghua Tian, Feng Gao, Chenkun Qi, Christine Chevallere, Xianchao Zhao. Modelling and Trajectory Planning for a Four Legged Walking Robot with High Payload. ICSR2012, 29th-31st October, 2012, Chengdu, China

20.   Yalei Guo, Yiwei Zhou, Jianyu Mao, Mo Li and Weizhong Guo, The Orientation Capability Analysis of a P-R-(PS-3-SPS)-type Segment Erector for Shield Machine, Proceedings of the MEDER 2012 (2nd IFToMM Symposium on Mechanism Design for Robotics), 12-14 October 2012: Beihang University, Beijing, China

21.   Ma Chunxiang , Wang Guotao , Chen Jie , He Jun , Gao Feng, Study on the New Type of the Positioner, Proceedings of the ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, DETC2012-70693, August 12-15, 2012, Chicago, IL, USA.

22.   Wang ZhiboMa ChunxiangHuang XunZheng Maoqi,  Gao Feng,  Analysis of a novel type of device of sea wave power generation, CCMMS 2012,13-17,Junly, 2012, Huangsan, China.

23.   Huang Xun, Ma Chun-xiang, Wang Zhi-bo, Zheng Mao-qi, Gao Feng, Analysis of a Novel Type of Mechanical Presses Driven by Six Servo Motors in Parallel, CCMMS 2012, 13-17,Junly, 2012,Huangsan, China.

24.   Yi Yue, Feng Gao, Hao Ge, The Reducible Design of 6-DOF Parallel Micro Manipulators Based on Screw Theory, 13th World Congress in Mechanism and Machine Science, Guanajuato, México, 19-25 June, 2011

25.   Feng Gao, Jialun Yang, Qiaode Jeffrey Ge, Type synthesis of parallel mechanisms having two rotations, ASME IDETC, 2010

26.   Xianchao Zhao, Jialun Yang, Feng Gao, etc., Workspace of a 3-RRPS Parallel Robot for a Given Orientation, Asian-MMS, 2010

27.   Feng Gao, Jialun Yang, GF sets and the type synthesis of parallel mechanisms, Asian-MMS, 2010 (Keynote Speech)

28.   Jianzheng Zhang, Feng Gao, Hongnian Yu, Chunxiang Ma, Xianchao Zhao. The research on application of a multi-DOF parallel manipulator as an earthquake simulator. Proceedings of the 16th International Conference on Automation & Computing, University of Birmingham, Birmingham, UK, 11 September 2010

29.   Jianzheng Zhang, Hongnian Yu, Feng Gao, Xianchao Zhao. A Novel Application of a 6-DOF Stewart Parallel manipulator for Earthquake Simulations. International Workshop on Human Adaptive Mechatronics (HAM), Loughborough University, 13-14 May 2010.

30.   Yongjun Bai, Feng Gao, Weizhong Guo, The Design of a PKM-type Composite Actuator for Servo Mechanical Press, ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009, June 22-24, 2009, London, United Kingdom

31.   Jialun Yang, Feng Gao, Structure design of the 3-DOF spherical hollow wrist mechanism for arc welding robots, Asian Doctoral Innovation Forum, Hangzhou, China, Noverber, 22-25, 2009

32.   Jialun Yang, Feng Gao, Weizhong Guo, Classification of motion patterns for robot manipulators, ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, London, UK, 2009,54-57

33.   Dianfan Zhang, Feng Gao. Kinematics Analysis of a Novel 6-(P-2P-S) Parallel Robot, ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. 2009: 257-261, London, U.K., June 23

34.   D. F. Zhang, F. Gao. Static Analysis for a Novel 6-(P-2P-S) Parallel Robot, Advanced Materials Research. 2009, 69-70: 580-584, Changsha, China.

35.   Feng Gao, Jialun Yang, Characteristics analysis of grasp gaits for human hands, 1st International Symposium on Geometric Methods in Robotics and Mechanism Research, Hong Kong, China, December, 2009

36.   Yongjun Bai, Feng Gao, Weizhong Guo, The Design of a PKM-type Composite Actuator for Servo Mechanical Press, ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009, June 22-24, 2009, London, United Kingdom

37.   Yan. C, Gao. F, Chen. J, Modeling and Virtual Reality Realization of Coupled Processes in Integrated Open-die Forging Plant, Proceedings of the ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference 2009, San Diego, USA, August 29-September 2, 2009

38.   Kaicheng Qi, Feng Gao, Wei Liu and Jialun Yang, Analysis of the States Transiton  for a Humanoid Robot SJTU-HR1 from Sitting to Standing, IEEE Internation Conference on Mechanics and Automation 2009, Changchun, Jinlin, China, August 9-12

39.   Jialun Yang, Feng Gao, Zhenlin Jin, Lifeng Shi, States classification for the humanoid robot platform SJTU-HR1, CCMMS2008, Dalian, China, Aug. 2008: 264-269

40.   Changya Y, Feng G. Dynamic Stability Analysis of a Novel Forging Manipulator, 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008, Intelligent Robotics and Applications, October 15, 2008 - October 17, 2008 p. 449-458.Wuhan, China

41.   Wei Liu, Feng Gao, Kaicheng Qi, Jianzheng Zhang. Accuracy of a Noval Parallel Robot with Orthogonal Chains. International Conference on Intelligent Robotics and Applications 2008, 1212–1222

42.   Dongya Zhao, Shaoyuan Li, Feng Gao. Fully Adaptive Feedforward Decentralized Control for 6 Degree of Freedom Parallel Robot. World Congress on Intelligent Control and Automation 2008 (WCICA’08)

43.   Dongya Zhao, Shaoyuan Li, Feng Gao. A New Terminal Sliding Mode Control for Robotic Manipulators without Requiring the Explicit use of the System Dynamic Model International Federation of Automatic Control World Congress 2008 (IFAC WC’2008)

44.   Jinliang Gong, Yanfei Zhang, Feng Gao, Type synthesis of parallel robot based on the kinematic element12th IFToMM World Congress, Besançon (France), June18-21, 2007

45.   Yanfei ZhangJinliang Gong, Feng GaoSingularity elimination of parallel mechanisms by means of redundant actuation, 12th IFToMM World Congress, Besançon (France), June18-21, 2007

46.   Dongya Zhao, Shaoyuan Li, Feng Gao. Continuous Finite Time Control for Stewart Platform with Terminal Sliding Mode, 26th Chinese Control Conference, 2007

47.   Feng Gao, Zhang Jianjun, Chen Yulong, Jin Zhenlin, Development of a New Type of 6-DOF Parallel Micro-manipulator and its Control System, IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, Changsha, 2003

48.   Xin-Jun Liu, Jinsong Wang, Jianfeng Li, Feng Gao. A New Planar Two Degrees of Freedom Parallel Mechanism. IFAC Workshop on Mobile Robot Technology, Jejudo Island, Korea. May 20-23, 2001: 116-120

49.   Xin-Jun Liu, Jinsong Wang, Feng Gao. On the Design of 6-DOF Parallel Micro-Motion Manipulators. IROS’2001, Oct. 2001:343-348

50.   Xin-Jun Liu, Jinsong Wang and Feng Gao , On the optimum design of planar 3-DOF parallel manipulators with respect to the workspace, IEEE ICRA’00, San Francisco,USA, April 24-28, 2000,4: 4122-4127

51.   Y.Zhang, Feng Gao, Y.D.Zhang, W.A.Gruver. Evaluating the Quality of Grasp Configuration for Dextrous Hands, IEEE ICRA'97, April:20-25, Albuquerque, New Mexico.

52.   Feng Gao, William A. Gruver. Performance Evaluation Criteria for Analysis and Design of Robotic Mechanisms, IEEE ICAR'97, July, Monterey, California.

53.   Feng Gao, W. A. Gruver. Criteria based analysis and design of three degree of freedom planar robotic manipulators, IEEE ICAR'97, July, Monterey, California.

54.   Feng Gao, W. A. Gruver, M. Smith. Evaluation of Dexterity and Velocity for the Design of Robotic Mechanisms, Proc. of the International Conference on Progress in Materials and Manufacturing (IPMM’97), July, Sydney, Australia.

55.   Feng Gao, W. A. Gruver. A geometric model for the analysis and design of Delta parallel robots, ASME Design Engineering Technical Conferences and Computers in Engineering Conference, August 18-22, Irvine, California.

56.   Feng Gao, W. A. Gruver, Y. Zhang. Performance charts for design of robotic mechanisms with three moving links, IEEE SMC96, Oct. 14-17, Beijing, China.

57.   Y. Zhang, Feng Gao, W. A. Gruver. Dimensional synthesis of a flexible end-effector with a high degree of stability. IEEE Inter. Conf. on Systems, Man, and Cybernetics (SMC96), Oct. 14-17, Beijing, China.

58.   Y.Zhang, Feng Gao, W.A. Gruver. Determination of contact forces in grasping. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems: IROS’96, Japan,1996

59.   Hiroaki Ozaki, H. R. Wang, X. J. Liu, Feng Gao. Atlas of the payload capability for design of 2-DOF planar parallel manipulators,  IEEE SMC’96, Oct. 14-17, Beijing, China, 1996, 2:1483-1488.

60.   Feng Gao, X. J. Liu, W. A. Gruver. The global conditioning index in the solution space of two degrees of freedom planar parallel manipulators. IEEE SMC’95, Vancouver, Canada, October, 1995, 5: 4055-4059.

61.   Feng Gao. Mobility analysis for 3-DOF parallel planar manipulators. Proceedings of the 3rd International Conference on Automation, Robotics, and Computer Vision, Singapore, November, 1994

62.   Feng Gao, Y. S. Zhao. Complete shaking force balancing of spatial lnkages by using the unit vector method.  Proceedings of the Inter. Conf. On Spatial Mech. and High Class Mech., Almaty, 1994

63.   Feng Gao, R. Huang. Synthesis of 6-bar mechanisms with multi-path generation. Proceedings of the 4th IFToMM, Bucharest,Romania, 1985, I-1(19):145-152.

64.   J. H. Yang, Feng Gao. About the diagrams of max. And min. Kinematic influence coefficients of 4-bar mechanisms.  Proceedings of the 4th IFToMM, Bucharest, Romania, 1985, I-2(64): 509-514

 

 

Partial Patents:

1.     Feng Gao, Zhenlin Jin, Xinghua Tian, Chenkun Qi, Jing Wang, " Isotropic hybrid leg configuration quadruped walking robot ", China Invention Patent, Authorized No. ZL201110410048.6, Application No. 2011104100486, Open Date: Jun 27 2012.

2.     Feng Gao, Yong Zhang, Qing Zhang, Xianchao Zhao, Weizhong Guo and Renqiang Liu, "Double angular milling head with single screw", China Invention Patent, Authorized No. ZL200710037294.5, Application No. 2007100372945, Open Date: Dec 17 2008.

3.     Feng Gao, Qing Zhang, Yong Zhang, Weizhong Guo, Xianchao Zhao and Renqiang Liu, "Double angular milling head with double screws", China Invention Patent, Authorized No. ZL200710037295.X, Application No. 200710037295X, Open Date: Dec 17 2008.

4.     Feng Gao, Qing Zhang, Yong Zhang, Weizhong Guo, Xianchao Zhao, Renqiang Liu, "Six-bar double angular milling head with single driver", China Invention Patent, Authorized No. ZL200710037292.6, Application No. 2007100372926, Open Date: Dec 17 2008.

5.     Feng Gao, Yong Zhang, Qing Zhang, Xianchao Zhao, Weizhong Guo and Renqiang Liu, "Six-bar double angular milling head with double drivers", China Invention Patent, Authorized No. ZL200710037293.0, Application No. 2007100372930, Open Date: Dec 17 2008.

6.     Feng Gao, Weizhong Guo, Zhongqin Lin, Xinmin Lai, Xianchao Zhao, "Parallel Composite Forging Machine using Press Twins", China Invention Patent, Authorized No. ZL200510030462.9, Application No. 2005100304629, Open Date: Sep 5 2007.

7.     Feng Gao, Weizhong Guo, Zhongqin Lin, Xinmin Lai and Xianchao Zhao, "Parallel Composite Forging Machine using Four Presses", China Invention Patent, Authorized No. ZL200510030463.3, Application No. 2005100304633, Open Date: Aug 15 2007.

8.     Feng Gao, Weizhong Guo, Xianchao Zhao, Zhongqin Lin and Xinmin Lai, "Slide Type Parallel Composite Forging Machine using Four Presses", China Invention Patent, Authorized No. ZL200510030459.7, Application No. 2005100304597, Open Date: Aug 15 2007.

9.     Feng Gao, Weizhong Guo, Xinmin Lai, Zhongqin Lin, Xianchao Zhao, “Six Dimensional Parallel Press Machine,” Authorized No. ZL200510030460.x, Application No. 200510030460x, Open Date: Oct 17 2007.

10.   Feng Gao, Weizhong Guo, Xinmin Lai, Zhongqin Lin and Xianchao Zhao, "Six Dimensional Parallel Forging Manipulator", China Invention Patent, Authorized No. ZL200510030461.4, Application No. 2005100304614, Open Date: Oct 17 2007.

11.   Feng Gao, Weizhong Guo, Zhongqin Lin, Xianchao Zhao and Xinmin Lai, "Six Dimensional Parallel Forging Manipulator with Double Spherical Joints and Slides", China Invention Patent, Authorized No. ZL200510110447.5, Application No. 2005101104475, Open Date: Sep 5 2007.

12.   Zhenlin Jin, Feng Gao and Yanbiao Li, "A kind of wrist joint for robot", China Invention Patent, Authorized No. ZL200710062554.4, Application No. 2007100625544, Open Date: Jul 1 2009.

13.   Zhenlin Jin, Feng Gao and Yanbiao Li, "A kind of shoulder joint for robot", China Invention Patent, Authorized No. ZL200710062552.5, Application No. 2007100625525, Open Date: Sep 30 2009.

14.   Zhenlin Jin, Feng Gao and Guilin Chen, "6-DOF micro-manipulator with full position and orientation feedback", China Invention Patent, Authorized No. ZL200610012449.5, Application No. 2006100124495, Open Date: Jan 23 2008.

15.   Feng Gao, Weizhong Guo, Xianchao Zhao, Zhongqin Lin and Xinmin Lai, "Parallel sliding forging machine composed of two press machines", China Invention Patent, Authorized No. ZL200510030458.2, Application No. 2005100304582, Open Date: Sep 19 2007.

16.   Weimin Li, Feng Gao and Jianjun Zhang, "Redundant input actuators and their application" China Invention Patent, Authorized No.ZL03129765.X, Application No. 03129765X, Open Date: May 4 2005.

17.   Feng Gao, Weimin Li, Jianjun Zhang and Zhenlin Jin, "Micro-equipment for chromosome-cutting", China Invention Patent, Authorized No.ZL03129764.1, Application No. 031297641, Open Date: Dec 7 2005.

18.   Zhenlin Jin and Feng Gao, "3-DOF mechanical platform for the experiment of vibration", China Invention Patent, Authorized No. ZL200410100962.0, Application No. 2004101009620, Open Date: Oct 17 2007.

19.   Feng Gao, Xinjun Liu, Zhenlin Jin and Xianchao Zhao, "5-DOF parallel machine tools", China Invention Patent, Authorized No. ZL00100193.0, Application No. 001001930, Open Date: Jan.15, 2003.

20.   Feng Gao, Hui Zhao, Weimin Li, Zhenlin Jin, Yanfei Zhang, Jianjun Zhang and Binbin Peng, "A robot like human with hybrid structure", China Invention Patent, Authorized No. ZL03102865.9, Application No. 031028659, Open Date: May 3, 2006.

21.   Zhenlin Jin and Feng Gao, "A 6-axis parallel machine tool with  the 3-2-1 parallel structure"China Invention Patent, Authorized No. ZL03102884.5, Application No. 031028845, Open Date: Sep 17, 2003.

22.   Weimin Li, Feng Gao and Jianjun Zhang, "3-DOF decoupled parallel mechanisms", China Invention Patent, Authorized No. ZL03129991.1, Application No. 031299911, Open Date: Dec 28, 2005.

23.   Feng Gao, Weimin Li and Jianjun Zhang, "4-DOF decoupled parallel mechanisms", China Invention Patent, Authorized No. ZL03129992.X, Application No. 03129992X, Open Date: Jan 25, 2006.

24.   Feng Gao, Weimin Li and Jianjun Zhang, "5-DOF decoupled parallel mechanisms", China Invention Patent, Authorized No. ZL03129993.8, Application No. 031299938, Open Date: May 3, 2006.

25.   Weimin Li, Feng Gao and Jianjun Zhang, "6-DOF decoupled parallel mechanisms", China Invention Patent, Application No: 03129994.6, Application No. 031299946, Open Date: Jun 6, 2003.

26.   Weimin Li, Feng Gao, Jianjun Zhang, Yanfei Zhang, Hui Zhao and Binbin Peng, "Redundant input parallel structural simulators", China Invention Patent, Authorized No. ZL03122951.4, Application No. 031229514, Open Date: Apr 25, 2003.

27.   Weimin Li, Feng Gao and Jianjun Zhang, "Redundant input actuators and their function", China Invention Patent, Authorized No. ZL03129765.X, Application No. 03129765X, Open Date: May 4, 2005.

28.   Feng Gao and Xinjun Liu, "3-DOF parallel machine tools", China Invention Patent, Authorized No. ZL00100195.7, Application No. 001001957, Open Date: Dec 11, 2002.

29.   Feng Gao and Xinjun Liu, "4-DOF parallel machine tools"China Invention Patent, Authorized No. ZL00100194.9, Application No. 001001949, Open Date: Oct 23, 2002.

30.   Feng Gao, Weimin Li and Xinjun Liu, "3-,4- and 5-DOF reconfigurable parallel machine tools"China Invention Patent, Authorized No. ZL00122181.7, Application No. 001221817, Open Date: Dec 11, 2002.

31.   Feng Gao, Zhenlin Jin, Xinjun Liu, Xianchao Zhao and Zhen Huang, "6-DOF parallel micro-manipulators with decoupled structure", China Invention Patent, Authorized No. ZL99121020.4, Application No. 991210204, Open Date: Jun 12, 2002.

32.   Feng Gao and Xinjun Liu, "3-DOF parallel micro-manipulators with decoupled structure", China Invention Patent, Authorized No. ZL00100198.1, Application No. 001001981, Open Date: Oct 9, 2002.

33.   Feng Gao and Xinjun Liu, "4-DOF parallel micro-manipulators with decoupled structure", China Invention Patent, Authorized No. ZL00100197.3, Application No. 001001973, Open Date: Dec 11, 2002.

34.   Feng Gao and Xinjun Liu, "5-DOF parallel micro-manipulators with decoupled structure"China Invention Patent, Authorized No. ZL00100196.5, Application No. 001001965, Open Date: Dec 11, 2002.

35.   Feng Gao, Jianjun Zhang, Weimin Li and Hui Zhao, "3-,4-,5- and 6-DOF parallel micro-manipulators with decoupled structures", China Invention Patent, Authorized No. ZL02117851.8, Application No. 021178518, Open Date: Nov 6, 2002.

36.   Feng Gao, Zhenlin Jin, Xianchao Zhao and Jinliang Li, "A 12-axis acceleration and force/torque sensor with  the parallel structure", China Invention Patent, Authorized No. ZL02122567.2, Application No. 021225672, Open Date: Dec 18, 2002.

37.   Feng Gao, Zhenlin Jin, Xinjun Liu, Xianchao Zhao and Zhen Huang, "6-DOF parallel machine tools"China Invention Patent, Authorized No. ZL99122349.7Application No. 991223497, Open Date: Jul 26, 2000.

38.   Feng Gao, Zhenlin Jin, Xinjun Liu and Xianchao Zhao, "6-axis force/torque sensor with decoupled parallel structure"China Invention Patent, Authorized No. ZL99119320.2Application No. 991193202, Open Date: Sep 27, 2000.

39.   Feng Gao, Hongrui Wang and Zhenlin Jin. "A 6-axis force/torque sensor with the parallel structure of elastic joints"China Invention Patent, Authorized No. ZL99102421.4, Application No. 991024214, Open Date: Sep 29, 1999.

40.   Feng Gao, Zhenlin Jin and Xianchao Zhao, "A new 6-axis controller with the parallel structure", China Invention Patent, Authorized No. ZL01122211.5, Application No. 011222115, Open Date: Nov 28, 2001.

41.   Feng Gao, Hongrui Wang and Yufeng Liu, "Pumping oil machine for double wells", China Invention Patent, China Invention Patent, Authorized No. ZL89206814.0, Application No. 892068140, Open Date: Feb 5, 1992.

42.   Yufeng Liu, Hongrui Wang, Feng Gao, Jicai Ning and Junliang Chen, "Jig saw with automatic control feed device", China Invention Patent, Authorized No. ZL89209145.2, Application No. 892091452, Open Date: May 15, 1991.

43.   Feng Gao and Hongrui Wang, "Domestic ice cream machine", China Invention Patent, Authorized No.ZL93208637.3, Application No. 932086373, Open Date: May 15, 1994.

44.   Feng Gao, Xianchao Zhao, Yongjun Bai, Weizhong Guo and Suiran Yu, "Multi-linkages servo mechanical forging machine parallel-actuated by 12 motors", China Invention Patent, Authorized No. ZL201010132896.0, Application No. 2010101328960, Open Date: Jul 28 2010.

45.   Weizhong Guo, Honglei Chen and Feng Gao, "Redundant input actuators", China Invention Patent, Authorized No. ZL200910312693.7, Application No. 2009103126937, Open Date: Jul 28 2010.

46.   Feng Gao, Weizhong Guo and Yongjun Bai, "Multi-linkages servo mechanical forging machine parallel-actuated by 6 motors", China Invention Patent, Authorized No. ZL201010300084.2, Application No. 2010103000842, Open Date: Jul 23 2013.

47.   Feng Gao, Zhenlin Jin, Jialun Yang and Xianchao Zhao, "The binocular cube visual devise", China Invention Patent, Authorized No. ZL200910045961.3, Application No. 2009100459613, Open Date: Sep 22 2010.

48.   Feng Gao, Yi Yue, Renqiang Liu, Jin Feng and Xianchao Zhao, "5-DOF macro-manipulator with decoupled structure," China Invention Patent, Authorized No. ZL200910049398.7, Application No. 2009100493987, Open Date: Sep 16 2009.

49.   Feng Gao, Yi Yue, Xianchao Zhao, Jin Feng and Jie Chen, "4-DOF micro-manipulator with orthogonal structure", China Invention Patent, Authorized No. ZL200910049397.2, Application No. 2009100493972, Open Date: Nov 3 2010.

50.   Feng Gao, Yong Zhang, Zhenlin Jin, Xianchao Zhao, Weizhong Guo and Jie Chen, "Multi-well oil sucking machine", China Invention Patent, Authorized No. ZL200910055223.7, Application No. 2009100552237, Open Date: May 22 2013.

51.   Feng Gao, Yong Zhang, Xing Tong, Weizhong Guo, Jie Chen, Chunxiang Ma, Zhongqin Lin and Xianchao Zhao, "Forging manipulator with straight-forward upper linkages", China Invention Patent, Authorized No. ZL2009100552222.2, Application No. 2009100552222, Open Date: Dec 8 2010.

52.   Feng Gao, Jialun Yang, Weizhong Guo, Xianchao Zhao, Jie Chen and Yong Zhang, "6-DOF duct piece-assembly mechanism in shield machine", China Invention Patent, Authorized No. ZL200910309433.4, Application No. 2009103094334, Open Date: Jun 13 2012.

53.   Feng Gao, Chunxiang Ma, Weizhong Guo, Xianchao Zhao, Jie Chen and Yong Zhang, “Roll-over table with double links,” China Invention Patent, Authorized No. ZL200810032482.3, Application No. 2008100324823, Open Date: Jun 2 2010.

54.   Feng Gao, Weizhong Guo, Xianchao Zhao, Zhenlin Jin, Qing Zhang and Zhisong Tian, “3-D online size measurement devise for large forgings,” China Invention Patent, Authorized No. ZL200810032481.9, Application No. 2008100324819, Open Date: Jun 23 2010.

55.   Feng Gao, Yong Zhang, Faguo Yu, Qing Zhang and Chunxiang Ma, “6-DOF forging manipulator with contrary structure,” China Invention Patent, Authorized No. ZL200810037835.9, Application No. 2008100378359, Open Date: Jun 23 2010.

56.   Feng Gao, Chunxiang Ma, Qing Zhang, Yong Zhang and Xianchao Zhao, “Main driving devise of boring and milling head for elbow pipe,” China Invention Patent, Authorized No. ZL200810038195.3, Application No. 2008100381953, Open Date: Jan 20 2010.

57.   Feng Gao, Weizhong Guo, Xianchao Zhao, Chunxiang Ma and Jie Chen, “Eight-bar servo press machine driven by double synchronous motors with harmonization performance,” China Invention Patent, Authorized No. ZL200810202233.4Application No. 2008102022334, Open Date: Mar 23 2011.

58.   Feng Gao, Zhenlin Jin, Xianchao Zhao, Xinghua Tian, Yong Zhang and Weizhong Guo, "feedback device with decoupled structure using sliders", China Invention Patent, Authorized No. ZL200810207800.5 Application No. 2008102078005, Open Date: Jun 30 2010.

59.   Feng Gao, Zhenlin Jin, Xianchao Zhao, Xinghua Tian, Yong Zhang and Weizhong Guo, "Parallel 4 bars feedback device with decoupled structure", China Invention Patent, Authorized No. ZL200810207800.5 Application No. 2008102078005, Open Date: Jun 30 2010.

60.   Zhengchun Du, Zhenqiang Yao, Zhongqin Lin, Feng Gao, Dawei Chang, "3-D online measurement devise and method for large forgings using optical laser radar", China Invention Patent, Authorized No. ZL200710171878.1, Application No. 2007101718781, Open Date: Jul 8 2009.

61.   Zhengchun Du, Zhongqin Lin, Feng Gao, Hao Wang and Pu Zhang, "2-DOF translational parallel mechanism with buffering capacity", China Invention Patent, Authorized No. ZL200710171876.2, Application No. 2007101718762, Open Date: Oct 21 2009.

62.   Zhengchun Du, Zhongqin Lin, Feng Gao, Zhenqiang Yao and Pu Zhang, "2-DOF translational parallel mechanism with decoupled structure", China Invention Patent, Authorized No. ZL200710171877.7Application No. 2007101718777Open Date: Dec 2 2009.

63.   Zhengchun Du, Zhongqin Lin, Feng Gao, Zhenqiang Yao and Pu Zhang, "Forging press machine test and calibration method", China Invention Patent, Authorized No. ZL200710171875.8Application No. 2007101718758Open Date: Nov 24 2010.

64.   Feng Gao, Jianzheng Zhang, Zhenlin Jin, Xianchao Zhao. “The redundent driving device with fault tolerant mechanical coordination”. Authorized No. ZL201110377662.7, Application NoCN2011103776627, Open date: Apr 11 2012.

65.   Weizhong Guo, Wei Chen, Feng Gao, Renqiang Liu. “The digital steering wheel system with force feedback”. Authorized No. ZL201110367371.X, Application Number: CN201110367371X, Jun 13, 2012.

66.   Weizhong Guo, Wei Chen, Feng Gao. “A hydraulic suspension mechanism which can move vertically”. Authorized No. ZL201110327489.X, Application NumberCN201110327489X, Mar 28, 2012.             

67.   Feng Gao, Xinghua Tian, Zhenlin Jin, Weizhong Guo, Chenkun Qi. “A 12-DOF quadruped robot with hybrid mechanism leg”. Authorized No. ZL201110314612.4, Application Number: 20111103146124, Mar 28,2013.

68.   Feng Gao, Zhenlin Jin, Xinghua Tian, Weizhong Guo, Chenkun Qi. “A parallel leg quadruped robot with knees”. Authorized No. ZL201110314611.X, Application Number: CN201110314611X, Mar 28, 2013.

69.   Feng Gao, Zhenlin Jin, Xinghua Tian, Xianchao Zhao, Chenkun Qi. “A hydraulic quadruped robot with hybrid leg mechanism”. Authorized No.ZL201110314607.3, Application Number: CN2011103146073, Open date: Mar 28 2013.

70.   Feng Gao, Zhenlin Jin, Xinghua Tian, Xianchao Zhao, Chenkun Qi. “A new quadruped robot with parallel leg mechanism”. Authorized No. ZL201110314606.9, Application Number: CN2011103146069, Open date:Mar 21, 2012.  

71.   Feng Gao, Yongjun Bai, Yi Yue, Weizhong Guo, Jie Chen, " Multi-linkages parallel mechanical forging machine with 2 servo motors ", China Invention Patent, Authorized No. ZL201110143700.2, Application No. 2011101437002,Open date: Nov 2 2011.

72.   Jing Wang, Anye Ren, Feng Gao, Yong Zhang, "Mini triggered pneymatic actuation unit ", China Invention Patent, Authorized No. ZL2011101192645, Application No. 201110119264.5, Sep 14 2011.

73.   Feng Gao, Jianzheng Zhang, Zhenlin Jin, Xianchao Zhao, Weizhong Guo "Fault tolerant huge shaking-simulation system for heavy load", China Invention Patent, Authorized No. ZL01110107998.1, Application No. 2011101079981, Nov 23, 2011.

74.   Jing Wang, Anye Ren, Feng Gao, Yong Zhang, " Hydraulic slide valve with screw valve port ", China Invention Patent, Authorized No. ZL201110099413.6, Application No. 2011100994136, Nov 30 2011.

75.   Feng Gao, Yongjun Bai, Yi Yue, Weizhong Guo, Xianchao Zhao, " Multi-linkages parallel mechanical forging machine with 4 servo motors and crank input", China Invention Patent, Authorized No. ZL2011100504283, Application No. 201110050428.3, Open Sep 7, 2011.

76.   Feng Gao, Chunxiang Ma, Jie Chen, Guotao Wang, Qing Zhang, Yi Yue, "Positioning machine with double actuations and double screws", China Invention Patent, Authorized No. ZL2010102253656, Application No. 201010225365.6, Open date: Oct 20. 2010.

77.   Feng Gao, Chunxiang Ma, Xianchao Zhao, Xu Huang, Yi Yue, Weizhong Guo, Qing Zhang, "Actuation simulation machine with 6 outputs and 28 redundant inputs", China Invention Patent, Authorized No. ZL2010102235408, Application No. 201010223540.8, Dec 12,15..

78.   Feng Gao, Jianzheng Zhang, Chunxiang Ma, Xianchao Zhao and Weizhong Guo, "Redundant fault-tolerant motion simulator", China Invention Patent, Authorization No. ZL201010157304.0, Application No. 2010101573040, Open Date: Oct 20 2010.

79.   Zhenlin Jin, Bingyi Wang and Feng Gao, "A quadruped walking robot", China Invention Patent, Authorization No. ZL201210009636.3,Application No. 2012100096363, Open Date: Jul 11 2012.

80.   Zhenlin Jin and Feng Gao, "Hip joint of walking robot", China Invention Patent, Authorization No. ZL201220012059.9,Application No. 2012200120599, Open Date: Sep 12 2012.

81.   Zhenlin Jin, Feng Gao, "Neck mechanism of 2 DOFs", China Invention Patent, Authorization No. ZL201220011420.6, Application No. 2012200114206, Open Date: Sep 12 2012.

82.   Zhenlin Jin and Feng Gao, "Six degrees of freedom of orthogonal parallel machine tool", China Invention Patent, Authorization No. ZL201020248490.4, Application No. 2010202484904, Open Date: May 18 2011.

83.   Zhenlin Jin and Feng Gao, "Three degrees of freedom micro-operation robot", China Invention Patent, Authorization No. ZL201020248456.7, Application No. 2010202484567, Open Date: Feb 19 2011.

84.   Jianjun Zhang, Feng Gao, Weimin Li, Hui Zhao and Yong Zhang, "Structural decoupling 3-dof parallel robot mechanism", China Invention Patent, Authorization No. ZL200410018623.8, Application No. 2004100186238, Open Date: Dec 6 2006.

85.   Weimin Li, Feng Gao and Jianjun Zhang, "Rotation combination of unit and its motion decoupling parallel mechanism", China Invention Patent, Authorization No. ZL200310107500.7 Application No. 2003101075007, Open Date: Nov 17 2004.

86.   Weiming Li, Feng Gao, Jianjun Zhang, Yanfei Zhang, "Redundant parallel inputs manipulor", China Invention Patent, Authorized No. ZL03122951.4, Application No. 031229514, Open Date: Dec 24, 2003.

87.   Chunxiang Ma, Weicong Chen, Maoqi Zhe