中文摘要：

Lin Chumhen, born in 1976. He received his Ph. D degree in Department of precision Instruments and Mechanology of Tsinghua University in 2007. He also received his B.S. and M.S. degrees from Fuzhou University in 1996 and 2001 respectively. His research interests include reconfigurable manufacturing system and parallel kinematics machine.To whom correspondence should be addressed. E-mail： lcs02@mails. tsinghua. edu. cn