In March 2002, he graduated from the School of Mechanical Engineering of Tianjin University with a doctor's degree in engineering. His tutor is Professor Zhang Ce, an expert in mechanism and robotics. In May 2002, he entered the postdoctoral mobile station of Shanghai Jiaotong University. In 2004, he taught in School of Mechanical and Power Engineering, Shanghai Jiaotong University. In the same year, 20 1 1 was promoted to associate professor and professor. In 2006, he won the Paphos Partner Research Program Award in Germany and went to Stuttgart University as a senior visiting scholar. His co-professors are Professor Werner Schiehlen, one of the founders of multibody system dynamics, and Professor Peter Eberhard, former president of the International Federation of theoretical and applied mechanics. 20 1 1 Participated in the European Advanced Robotics Postgraduate Teaching and Research Program (EMARO Program) and taught the international robotics postgraduate class as a visiting professor.