Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control;
Yanshan University;
Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education;
Yanshan University;
Parallel Robot and Mechatronic System Laboratory of Hebei Province;
Yanshan University;
screw bond graph; multi-energy domains; 3-UPS/S parallel mechanism; electro-hydraulic servo system;