Key Technology and Achievements：
Put forward a new ideas about compliant mechanism modeling and research.
Deduce the transfer function model in the generalized load case considering the inverse dynamics of parallel manipulators and nonlinear functions of electro-hydraulic actuator.
Proposed a wrench outer loop/position inner loop compliant control strategy.
Proposed a observer-based cascade control of parallel 6DOF manipulator in joint space coordinate.
Proposed the method which uses parallel 6DOF manipulator to reproduce the power spectrum with frequency domain loop and time domain loop
Published more than 20 papers in domestic and international publications such as Mechatronics, Control engineering practice, therein, 7 SCI/EI indexed papers;10 impending Patents.