Han-Lin Sun

State Key Laboratory of Tribology, Tsinghua University

Papers

Total Citations

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About

Han-Lin Sun is a rising figure in robotic mechanics, whose work centers on the kinematics, statics, and kinetostatics of robotic systems, with a particular emphasis on screw theory and cable-driven mechanisms. Sun’s most influential contribution, the 2022 paper “Kinematics and Statics of a 3-UPU Robot in Screw Coordinates” (8 citations), introduced a novel screw-based formulation for expressing both angular and linear velocities, establishing a unified framework for analyzing parallel robots. This was extended in 2023 with “Kinetostatics of a serial robot in screw form” (5 citations), which advanced actuation distribution and torque control beyond traditional Denavit-Hartenberg methods. Most recently, Sun’s 2025 work “Cable Tension Minimization of a Redundant Cable-Driven Robot With Flexible End Effector” (2 citations) tackles a pressing challenge in aerospace engineering: operating within narrow spaces. By proposing a design and optimization method for flexible cable-driven robots, Sun addresses critical issues of tension minimization and redundancy. Though early in their career, Sun’s cumulative citations (15+) and progressive focus from theoretical screw coordinates to applied aerospace robotics signal a promising trajectory, making their research essential for students and engineers exploring advanced robotic analysis and constrained-environment manipulation.