School of Mechanical Engineering
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Name: SUN Tao
Gender: Male
Talent plan:
Professional title: Professor
Post: Deputy Dean
Institution: Department of Mechanical Engineering Specialty: Mechanisms and Robotics
Email: stao@tju.edu.cn Personal website:
Tel: 022-27403433 Fax:
Office: Tianjin Univerisity
Education: Sep. 2008 – Jan. 2012 Doctor of Engineering, Mechanical Design and Theory,Tianjin University
Sep. 2006 – Jul. 2008 Master of Engineering, Mechanical Design and Theory,Tianjin University

Academic experience: Jun. 2017 – Now Professor, Doctoral supervisor, Department of mechanical engineering, School of mechanical engineering, Tianjin university
Jun. 2015 – Jun. 2017 Associate Professor, Department of mechanical engineering, School of mechanical engineering, Tianjin university
Jan. 2014 – Jun. 2017 Master supervisor, Department of mechanical engineering, School of mechanical engineering, Tianjin university
Feb. 2014 – Aug. 2014 Visiting scholar, University of Bedfordshire, UK
Mar. 2012 – Jun. 2015 Lecturer, Department of mechanical engineering, School of mechanical engineering, Tianjin university

Research interest: 1. Robotic Mechanisms
2. Orthopedic Medical Robot
3. Bio-inspired Robot

Teaching: Mechanical Design

Academic position: Editorial Board Member, IMechE Part C: Journal of Mechanical Engineering Science
Editorial Board Member, Journal of Robotics and Application (In Chinese)
Associate Editor, Journal of Mechanical Design (In Chinese)
Member, Robotics Committee of Chinse Mechanical Engineering Society
Council Member and Secretary General, Tianjin Mechanical Engineering Society
Member, Tianjin Electromechanical Standardization Committee
Member, Institute of Electrical and Electronics Engineers (IEEE)

Academic achievement: Hosted or participated in more than 20 international cooperation, national, ministerial and lateral projects, won 3 provincial and ministerial awards, published more than 60 papers, SCI included more than 35, authorized more than 40 national invention patents
2013, China Machinery Industry Science and Technology Award (1 Class)
2013, Peiyang Excellent Young Scholar Award
2013, Young Teacher Forerunners Award
2014、2015, Excellent Instructor of Undergraduate Graduation Design
2015, The First Prize of The Ninth Beijing, Tianjin and Hebei undergraduate graduation design competition, Instructor
2015, Excellent Graduation Design (Thesis) for Undergraduates of Tianjin Normal University, Instructor
2016, Award for Top Ten Excellent Projects Funded by NSFC
2017, Top Ten Excellent Staff of Tianjin University
2017, Best Paper Award of 2017 International Conference of Mechanical Design
2017,The 14th Challenge Cup Tianjin city Special Prize, The 15th Challenge Cup National Second Prize, Instructor
2018, Best Paper Award of 2018 International Conference on China Mechanism and Machine Science

Research projects: Host:
1. Experimental Device of Lower Mobility Spatial Parallel Mechanisms, Funded by Tianjin Municipal Commission of Education, JG2012-147-D128-09, PI, May. 2012-Apr. 2016.
2. Experimental Device of Spatial Converter Parallel Mechanism, Funded by Tianjin Municipal Commission of Education, JG2012-147-D128-10, PI, May. 2012-Apr. 2016.
3. Design theory and researches in essential technique of a fully symmetric 4-DoF parallel mechanism for assembling large-size airplane components, Funded by NSFC, 51205278, PI, Jan. 2013-Dec. 2015.
4. Generalized performance index and singularity analysis of parallel mechanisms, Funded by MOE, 2012003212003, PI, Jan. 2013-Dec. 2015.
5. Kinematic Transmission Analysis and Evaluation of Lower Mobility Parallel Mechanisms, Funded by Tianjin Municipal Science and Technology Commission, 13JCQNJC04600, PI, Apr. 2013-Mar. 2016.
6. Parallel robot based Teaching and Experimental Platform, Funded by Tianjin Municipal Education Commission, PI, Jan. 2013-Jun. 2014.
7. Cooperation Project, Funded by Academy of Military Sciences, PI, Jun. 2015-Jun. 2016.
8. Cooperation Project, Funded by PLA Academy of Military Medical Sciences, PI, Jun. 2015-Dec. 2016.
9. Topology synthesis and optimal selection based upon screw theory, Funded by Tianjin Municipal Science and Technology Commission, 16JCYBJC19300, PI, Apr. 2016-Mar. 2019.
10. Type synthesis methodology and design theory on the under-actuated continuous parallel gripper with rigid-flexible coupling features, Funded by NSFC, 51675366, PI, Jan. 2017 - Dec. 2020.
11. Development and application of Emergency prevention and control equipment for gusty and new infectious disease, Funded by MOST, 2017ZX10304403, PI, Jan. 2017 - Dec. 2020.
12. Design Theory and Application Technology of Flexible Assembly System for Large Rocket Component Docking, Funded by Tianjin Natural Science Fund Beijing-Tianjin-Hebei Special Project, 17JCZDJC40400, PI, Oct. 2017 - Sept.2020.
13. Design and Construction Technology Development of Environmental Protection Robot for High Risk Pollution Site Investigation, Open, PI, Apr. 2018 - Mar.2021.

Join:
1. Key Technology of New Five-coordinate Reconfigurable Operation Unit, Funded by National 863 Program, 2007AA042001, Executive PI, Aug. 2007-Jul. 2010.
2. Friction welding parallel robot, Horizontal Project, Executive PI, Jul. 2007-Dec. 2010.
3. Design Theory and Key Technology of New Five-Coordinate Hybrid Power Head, Funded by NSFC, 51075295, Executive PI, Jan. 2011-Dec. 2013.
4. Design Theory and Key Technology of New Five-Coordinate Hybrid Power Head, Funded by Tianjin Municipal Science and Technology Commission, 11JCZDJC22700, Executive PI, Apr. 2011-Mar. 2014.
5. Innovation Design and System Integration of Lower Mobility Parallel Mechanisms, Funded by NSFC, 51135008, Executive PI, Jan. 2012-Dec. 2016.
6. ECROBOT-European and Chinese Platform for Robotics and Applications, Funded by European Commission, FP7-PEOPLE-2012-IRSES, Executive PI, Jan. 2013-Dec. 2015.
7. Design Theory and Key Technology Research of the Accurate Parallel Angle Tracking Mechanism of Inter-Satellite Link, 51475321, Executive PI, Jan. 2015-Dec. 2018.
8. Design Method and Control Strategy of Parallel Angle Tracking Mechanism of Relay Satellite Link Antenna, Funded by Tianjin Municipal Science and Technology Commission, 15JCZDJC38900, Executive PI, Apr. 2015-Mar. 2018.

Selected publications: First author or correspondent author paper
A. Cited by SCI
1. Tao Sun, Yimin Song*, Yonggang Li, Jun Zhang, Workspace decomposition based dimensional synthesis of a novel hybrid reconfigurable robot, ASME Trans. Journal of Mechanisms and Robotics, 2010, 2(3): 310091-310098.
2. Tao Sun, Yimin Song*, Yonggang Li, Linshan Liu, Dimensional synthesis of a 3-DOF parallel manipulator based on dimensionally homogeneous Jacobian matrix, Science China-Technological Sciences, 2010, 53(1): 168-174.
3. Tao Sun, Yimin Song*, Yonggang Li, Liang Xu, Separation of comprehensive geometrical errors of a 3-dof parallel manipulator based on Jacobian matrix and its sensitivity analysis with Monte-Carlo method, Chinese Journal of Mechanical Engineering (English Edition), 2011, 24(3): 406-413.
4. Tao Sun, Yimin Song*, Kai Yan, Kineto-static analysis of a novel high-speed parallel manipulator with rigid-flexible coupled links, Journal of Central South University of Technology (English Edition), 2011, 18(3): 593-599.
5. Tao Sun, Yimin Song*, Gang Dong, Binbin Lian, Jianping Liu, Optimal design of a parallel mechanism with three rotational degrees of freedom, Robotics and Computer-Integrated Manufacturing, 2012, 28(4): 500-508.
6. Yimin Song, Binbin Lian, Tao Sun*, Gang Dong, Yang Qi, Hao Gao, A novel five-degree-of-freedom parallel manipulator and its kinematic optimization, ASME Trans. Journal of Mechanisms and Robotics, 2014, 6(4): 410081-410089.
7. Yimin Song, Hao Gao, Tao Sun*, Gang Dong, Binbin Lian, Yang Qi, Kinematic analysis and optimal design of a novel 1T3R parallel manipulator with an articulated travelling plate, Robotics and Computer-Integrated Manufacturing, 2014, 30(5): 508-516.
8. Binbin Lian, Tao Sun*, Yimin Song, Yan Jin, Price Mark, Stiffness analysis and experiment of a novel 5-DoF parallel kinematic machine considering gravitational effects, International Journal of Machine Tools & Manufacture, 2015, 95: 82-96.
9. Tao Sun, Yimin Song*, Hao Gao, Yang Qi, Topology synthesis of a 1T3R parallel manipulator with an articulated traveling plate, ASME Trans. Journal of Mechanisms and Robotics, 2015, 7(3): 310151-310159.
10. Yang Qi, Tao Sun*, Yimin Song, Yan Jin, Topology synthesis of three-legged spherical parallel manipulators employing Lie group theory, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2015, 229(10): 1873-1886.
11. Yimin Song, Jiateng Zhang, Binbin Lian, Tao Sun*, Kinematic Calibration of a 5-DoF Parallel Kinematic Machine, Precision Engineering, 2016, 45: 242-261.
12. Binbin Lian, Tao Sun*, Yimin Song, Xiaoli Wang, Passive and active gravity compensation of horizontally-mounted 3-RPS parallel kinematic machine, Mechanism and Machine Theory, 2016, 190-201.
13. Gang Dong, Tao Sun*, Yimin Song, Hao Gao, Binbin Lian, Mobility analysis and kinematic synthesis of a novel 4-DoF parallel manipulator, Robotica, 2016, 34(5): 1010-1025.
14. Shuofei Yang, Tao Sun*, Tian Huang, Qinchuan Li, Dongbing Gu, A finite screw approach to type synthesis of three-DOF translational parallel mechanisms, Mechanism and Machine Theory, 2016, 104: 405-419.
15. Tao Sun, Yapu Zhai, Yimin Song*, Jiateng Zhang, Kinematic calibration of a 3-DoF rotational parallel manipulator using laser tracker, Robotics and Computer-Integrated Manufacturing, 2016, 41: 78-91.
16. Tao Sun, Binbin Lian, Yimin Song*, Stiffness analysis of a 2-DoF over-constrained RPM with an articulated traveling platform, Mechanism and Machine Theory, 2016, 96: 165-178
17. Dong Liang, Yimin Song, Tao Sun*, Gang Dong, Optimum design of a novel redundantly actuated parallel manipulator with multiple actuation modes for high kinematic and dynamic performance, Nonlinear Dynamics, 2016, 83: 631-658.
18. Yimin Song, Gang Dong, Tao Sun*, Binbin Lian, Elasto-dynamic analysis of a novel 2-DoF rotational parallel mechanism with an articulated travelling platform, Meccanica, 2016, 51: 1547-1557.
19. Yimin Song, Yang Qi, Gang Dong, Tao Sun*, Type synthesis of 2-DoF rotational parallel mechanisms actuating the inter-satellite link antenna, Chinese Journal of Aeronautics, 2016, 29(6): 1795-1805.
20. Tao Sun, Shuofei Yang, Tian Huang*, Jian S Dai, A way of relating instantaneous and finite screws
based on the screw triangle product, Mechanism and Machine Theory, 2017, 108: 75-82.
21. Binbin Lian, Tao Sun*, Yimin Song, Parameter sensitivity analysis of a 5-DoF parallel manipulator, Robotics and Computer-Integrated Manufacturing, 2017, 46: 1-14.
22. Shuofei Yang, Tao Sun*, Tian Huang, Type synthesis of parallel mechanisms having 3T1R motion with variable rotational axis, Mechanism and Machine Theory, 2017, 109: 220-230.
23. Xinming Huo, Tao Sun*, Yimin Song, Yang Qi, Panfeng Wang, An analytical approach to determine motions/constraints of serial kinematic chains based on Clifford algebra, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2017, 231 (7): 1324–1338.
24. Dong Liang, Yimin Song, Tao Sun*, Xueying Jin, Rigid-flexible coupling dynamic modeling and investigation of a redundantly actuated parallel manipulator with multiple actuation modes, Journal of Sound and Vibration, 2017, 403: 129-151.
25. Dong Liang, Yimin Song, Tao Sun*, Nonlinear dynamic modeling and performance analysis of a redundantly actuated parallel manipulator with multiple actuation modes based on FMD theory, Nonlinear Dynamics, 2017, 89(1): 391-428.
26. Xinming Huo, Tao Sun*, Yimin Song, A Geometric Algebra Approach to Determine Motion/Constraint, Mobility and Singularity of Parallel Mechanism, Mechanism and Machine Theory, 2017, 116: 273-293.
27. Yang Qi, Tao Sun*, Yimin Song, Type synthesis of parallel tracking mechanism with varied axes by modeling its finite motions algebraically, ASME Trans. Journal of Mechanisms and Robotics, 2017, 9(5): 054504-1-054504-6.
28. Tao Sun, Xu Xiang, Weihua Su, Hang Wu, Yimin Song*, A transformable wheel-legged mobile robot: Design, analysis and experiment, Robotics and Autonomous Systems, 2017, 98: 30–41.
29. Tao Sun, Hao Wu, Binbin Lian*, Yang Qi, Panfeng Wang, Stiffness modeling, analysis and evaluation of a 5 degree of freedom hybrid manipulator for friction stir welding, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2017, 231(23): 4441-4456.
30. Tao Sun, Binbin Lian*, Stiffness and mass optimization of parallel kinematic machine, Mechanism and Machine Theory, 2018, 120: 73-88.
31. Dong Liang, Yimin Song, Tao Sun*, Xueying Jin, Dynamic modeling and hierarchical compound control of a novel 2-DOF flexible parallel manipulator with multiple actuation modes, Mechanical Systems and Signal Processing, 2018, 103: 413-439.
32. Tao Sun, Dong Liang*, Yimin Song, Singular-perturbation-based nonlinear hybrid control of redundant parallel robot, IEEE Transactions on Industrial Electronics, 2018, 65(4): 3326-3336.

B. Cited by EI

1. Tao Sun, Yimin Song*, Comparison between a 4-DOF hybrid module and Tricept module focusing on inverse kinematics and stiffness, 2009 IEEE International Conference on Robotics and Biomimetics, Guilin, P.R. China, 19-23 December, 2009.EI:11153116
2. Tao Sun, Yimin Song*, Liang Xu, Accuracy synthesis of a 3-PRS parallel manipulator based on genetic algorithms, 2009 International Conference on Manufacturing Science and Engineering (ICME 2009), Zhuhai, P.R. China, 26-28 December, 2009.EI: 11710803
3. Tao Sun, Yimin Song*, Yonggang Li, Jun Zhang, Stiffness estimation for the 4-DOF hybrid module of a novel reconfigurable robot, The 1st International Conference on Recofigurable Mechanisms and Robots, London, UK, 22-24 June, 2009.EI: 10799719
4. Yimin Song, Yang Qi, Tao Sun*, Conceptual design and kinematic analysis of a novel parallel manipulator with an articulated gripping platform, The 3rd IEEE/IFToMM International Conference on Recofigurable Mechanisms and Robots, Beijing, China, 20-22 July, 2015. EI: 20161202136440
5.Wanzhen Li, Tao Sun*, Xinming Huo, Yiming Song, CGA Approach to Kinematic Analysis of a 2-DoF Parallel Positioning Mechanism, Proceedings of the ASME 2016 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference,Charalotte, North Carolina, America, 21-24 August, 2016.EI: 20134516956265
6. Tao Sun, Hao Wu, Binbin Lian, Panfeng Wang, Yimin Song*, Stiffness modeling of parallel manipulator with articulated traveling plate, THE 4th IFToMM Asian Conference on Mechanism and Machine Science, Guangzhou, China, 15-17 December, 2016. EI: 20164903090095
7. Tao Sun, Yimin Song*, Yonggang Li, Gang Dong, Global Stiffness Estimation of 4-DoF Hybrid and Reconfigurable Module, Journal of Tianjin University(Science and Technology), 2010, 43(11): 1003-1008. EI: 12323977
8 . Yimin Song, Jiateng Zhang, Tao Sun *, Gang Dong, Kinematic Analysis and Optimal Design of a 1T2R Parallel Manipulator, Journal of Tianjin University(Science and Technology), 2014, 47(10): 863-870.EI: 15350767
9. Yimin Song, Hang Cheng, Tao Sun *, Qi Li, Gang Dong, Jinhe Li, Static Stiffness Parameter Identification of Rolling Bearings in Parallel Mechanisms with Revolute Joints, Journal of Tianjin University(Science and Technology, 2014, 47(12): 1102-1108.EI: 15444007
10. Yimin Song, Yapu Zhai, Tao Sun *, Jinhe Li, Jiateng Zhang, Accuracy Design of a Class of Three-Rotation Degree of Freedom Parallel Mechanism Based on Inter-analysis, Journal of Beijing University of Technology,2015, 41(11). 1620-1626.EI:15975459
11. Shuofei Yang, Tao Sun *, Tian Huang, Jiansheng Dai, Group Representation of Line Transformation Matrix of a Rigid Body, Chinese Journal of Mechanical Engineering, 2015, 51(13): 81-85.EI:20153701258953
12. Run Tian, Yimin Song, Tao Sun *, Xu Xiang, Parameter Design and Experiment of a Novel Wheel-legged Mobile Robot, Robots, 2015, 37(5): 538-545.EI:16010340
13. Yimin Song, Xiaoli Wang, Binbin Lian, Tao Sun *, Gravity Compensation Strategy of a 1T2R Parallel Manipulator with Horizontal Layout, Journal of Tianjin University(Science and Technology, 2015, 48(7): 596-604.EI:15975522
14. Yimin Song, Xuedong Zhai, Tao Sun *, Gang Dong, Binbin Lian, Stiffness Analysis of a 3-DOF Redundantly Actuated Parallel Module, Journal of Tianjin University(Science and Technology, 2015, 48(1): 25-32.EI:15593214
15. Bin Li, Tao Sun *, Yimin Song, Jianping Liu, Multi-Row Planetary Gear Based Configuration Synthesis of Power Coupler, Journal of Tianjin University(Science and Technology, 2016, 49(1).EI: 20161402175739

C. Conference papers

1. Yimin Song, Yang Qi, Tao Sun*, Conceptual design and kinematic analysis of a novel parallel manipulator with an articulated gripping platform, The 3rd IEEE/IFToMM International Conference on Recofigurable Mechanisms and Robots, Beijing, China, 20-22 July, 2015.
2. Yimin Song, Yapu Zhai, Jiateng Zhang, Tao Sun*, Guoguang Jin, Jian S Dai, Geometrical error modeling and parameter identification of a 3-DoF rotational parallel manipulator with screw theory, 2014 IFToMM Asian Conference on Mechanism and Machine Science, Tianjin, China, 7-9 July, 2014.
3. Yimin Song, Yang Qi, Tao Sun*, Yan Jin, Dayou Li, Topology design and kinematic optimization of a 2-DoF U-joint parallel manipulator with large rotation angles, 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Tianjin, China, 7-9 July, 2014.
4. Gang Dong, Yimin Song, Tao Sun*, Binbin Lian, Elasto-dynamic analysis of a novel 2-DoF rotational parallel mechanism with an articulated travelling plate, 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, , Tianjin, China, 7-9 July, 2014.
5. Tao Sun, Yimin Song*, Kai Yan, Gang Dong, Elasto-dynamic modelling of a novel high-speed parallel manipulator with string-parallelogram mechanism, The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, 19-21 Jun, 2011.
6. Tao Sun, Yimin Song*, Yonggang Li, Jun Zhang, Stiffness estimation for the 4-DOF hybrid module of a novel reconfigurable robot, The 1st International Conference on Recofigurable Mechanisms and Robots, London, UK, 22-24 Jun, 2009.


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