(1) National Natural Science Foundation Youth Fund Project: "Innovative Scheme and Reconfigurable Design of Flexible Fixture for Automobile Body Plate Welding", project number: 505050 10, project leader.
(2) The general project of National Natural Science Foundation: "Action Mode of Cooking Robot and Innovative Design of Pot Mechanism", with the project number of 60875060, the project leader.
(3) General project of National Natural Science Foundation: "Innovative Design and Semi-active Control of Multidimensional Vibration Isolation Mechanism of Spacecraft Integral Vibration Isolation System", project number: 5 1 175 10 5, project leader.
(4) The key project of National Natural Science Foundation: "Research on innovative design theory and method of new large-scale space foldable mechanism", project number: 50935002, project sub-project leader.
(5) National High-tech 863 Program: "Automatic Cooking Robot for the Elderly and Disabled in China", project number: 2006AA040205, and the sub-project leader of the project.
(6) Guangdong Natural Science Foundation Project "Automobile Body Fixture Planning and Tolerance Distribution Quality Design" (project number: 04300845), project leader.
(7) The major project of Heilongjiang Science and Technology Commission "Development of Parallel Machine Tool" (project number: G98A 12- 1), the second participant.
(8) Shenzhen Science and Technology Plan Project "Development of New High-speed and High-precision NC Parallel Worktable", project leader.