科研项目： [1] 国家自然科学基金青年基金，51805129，2019/01-2021/12，26万，在研，主持； [2] 天津市宇航智能装备技术企业重点实验室开放课题，TJYHZN2019KT006，2019/04-2020/12，5万，在研，主持； [3] 校学术新人提升计划B项目，JZ2019HGTB0078，2019/04-2020/12，20万，在研，主持； [4] 国家重点研发计划项目子课题，JZ2018ZDYF0196，2017/12-2020/11，43万，在研，主持； [5] 校博士专项资助基金，JZ2017HGBZ0965，2017/05-2019/04，2万，已结题，主持； [6] 国家自然科学基金联合基金项目，U19A20101，2020/01-2023/12，在研，参与； [7] 装备预研教育部联合基金，6141A02022134，2019/01-2020/12，在研，参与； [8] 国家自然科学基金重大项目（培育），91748109，2018/01-2020/12，在研，参与。 发表学术论文： （一）期刊论文 [1] Zhengyu Wang, Bin Zi*, Daoming Wang, Jun Qian, Wei You, Lingtao Yu. External force self-sensing based on cable-tension disturbance observer for surgical robot end-effector. IEEE Sensors Journal, 2019, 19(13): 5274-5284. [2] Zhengyu Wang,Bin Zi*, Huafeng Ding, Wei You, Lingtao Yu. Hybrid grey prediction model-based autotracking algorithm for the laparoscopic visual window of surgical robot. Mechanism and Machine Theory, 2018, 123: 107-123. [3] Zhengyu Wang,Daoming Wang*, Bing Chen, Lingtao Yu, Jun Qian, Bin Zi. A Clamping Force Estimation Method Based on a Joint Torque Disturbance Observer Using PSO-BPNN for Cable-Driven Surgical Robot End-Effectors. Sensors, 2019, 19(23): 5291. [4] Daoming Wang, Yakun Wang, Jiawei Pang,Zhengyu Wang*, Bin Zi. Development and Control of an MR Brake-Based Passive Force Feedback Data Glove. IEEE Access, 2019, 7: 172477-172488. [5] Lingtao Yu, Zhengyu Wang*,Liqiang Sun, Wenjie Wang, Lan Wang, Zhijiang Du. A new forecasting kinematic algorithm of automatic navigation for a laparoscopic minimally invasive surgical robotic system. Robotica, 2017, 35(5): 1192-1222. [6] Lingtao Yu, Zhengyu Wang*, Peng Yu, Tao Wang, Huajian Song, Zhijiang Du. A new kinematics method based on a dynamic visual window for a surgical robot. Robotica, 2014, 32(4): 571-589. [7] Lingtao Yu, Zhengyu Wang*, Wenjie Wang, Hongwei Li, Lan Wang. Research on micromanipulator’s clamping force sensing based on static wirerope tension of a surgical robot, Advances in Mechanical Engineering, 2015, 7(4): 1-11. [8] 于凌涛, 王正雨*, 于鹏, 王涛, 宋华建. 基于动态视觉引导的外科手术机器人器械臂运动方法. 机器人, 2013, 35(2): 162-170. [9] 于凌涛, 王文杰, 王正雨, 谷庆, 王岚. 一类不满足Pieper准则的机器人逆运动学解析解获取方法. 机器人, 2016, 38(4): 486-494.
（二）国际会议论文 [1] Zhengyu Wang*,Bin Zi, Daoming Wang, Jun Qian. Design, Modeling and Analysis of a Novel Backdrivable Cable-driven Series Elastic Actuator. Proceedings of the 19th IEEE International Conference on Nanotechnology (IEEE NANO 2019), Macau SAR, China, July 22-26, 2019, pp. 179-183. [2] Yajun Liu, Bin Zi, Zhengyu Wang*, Daoming Wang, Lei Zheng. Kinematics Calibration of Spraying Robot based on Laser Tracker. 2019 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2019), Tianjin, China, August 4-7, 2019, pp. 827-823. [3] Jiarui Wan, Zhengyu Wang*, Bin Zi, Daoming Wang, Zixiang Cao. Kinematics Modeling and Analysis of a Novel Five-DoF Spraying Robot. 2019 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2019), Tianjin, China, August 4-7, 2019, pp. 524-529. [4] Jingfeng Pan, Bin Zi, Zhengyu Wang*, Sen Qian, Daoming Wang. Real-time Dynamic Monitoring of a Multi-robot Cooperative Spraying System. 2019 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2019), Tianjin, China, August 4-7, 2019, pp. 862-867. [5] Kai Feng, Zhengyu Wang*, Bin Zi, Daoming Wang, Sen Qian. Research on a Virtual Simulation System for Master-slave Teaching of a Spraying Robot. 2019 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2019), Tianjin, China, August 4-7, 2019, pp. 403-408. [6] Zhengyu Wang*, Yuan Li, Bin Zhou, Lingtao Yu, Jun Qian, Daoming Wang. Contrastive analysis of dynamics modelling and parameters identification for a flexible finger joint based on cable-driven series elastic actuator. 2017 International Conference on Advanced Mechatronic Systems (ICAMechS 2017), Xiamen, China, December 6-9, 2017, pp. 435-440. 授权发明专利： [1] 微创外科手术用手动三自由度微机械手，授权号: ZL2012100118131，第2发明人； [2] 一种机器人辅助微创外科手术多功能器械臂，授权号: ZL2013105563412，第2发明人； [3] 具有快换接口功能的外科手术机器人用二自由度机构，授权号: ZL2014100854613，第2发明人； [4] 微创手术机器人用多自由度微操作手指，授权号: ZL2014101258398，第2发明人； [5] 三轴交汇式姿态主手机构，授权号: ZL2012102160059，第3发明人； [6] 外科手术用手动多自由度微机械手，授权号: ZL201210393706X，第3发明人； [7] 一种具有自标定功能的6-PTRT型并联机器人，授权号: ZL2014101746103，第3发明人； [8] 面向外科手术机器人微器械夹持力的测试平台，授权号: ZL2014100854492，第3发明人。
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