Han Shukui

North China Institute of Aerospace Engineering, Beijing Jiaotong University

Papers

Total Citations

H-Index

About

Han Shukui’s research centers on the kinematics, constraint mechanics, and error analysis of robotic systems, with a particular focus on parallel and snake-like robots. His work addresses fundamental challenges in achieving precise motion control and structural reliability in lower-degree-of-freedom (DOF) mechanisms. A key contribution is his investigation of “uncompensatable errors” in four-DOF parallel robots, revealing how geometric constraints inherent in reduced-DOF designs introduce systematic inaccuracies that cannot be corrected through conventional control methods. This insight has implications for improving the design of high-precision manufacturing robots. Shukui also advanced snake robot locomotion by developing an inchworm gait model based on the serpenoid curve, offering a universal, easily controlled movement pattern for redundant serpentine robots. His analysis of constraint errors in three-DOF pure translational parallel robots further clarified how manufacturing tolerances and assembly deviations degrade manipulator performance. While his citation counts (2–3 per paper) reflect a niche but technically rigorous audience, his work provides foundational understanding for researchers tackling real-world robot accuracy and design constraints.