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Product design plays a key role in realizing manufacturing enterprise's core value and enhancing its competitive power. An open, flexible and agile environment is needed for supporting product collaborative design. The emergence of semantic service oriented architecture (Semantic SOA) has brought about a loosely coupled computing pattern, which can promote system interoperability and resource reusability. In this paper, a Semantic SOA based framework for product collaborative design is proposed. The framework integrates some design resources which are heterogeneous and distributed, and facilitates collaborative work of design teams in different disciplines. In addition, some key enabling technologies including resource encapsulation methodology and product information sharing model are studied. Furthermore, a prototype system is designed and implemented. Feasibility of the prototype system is validated by practical use. The application results show that the framework can shorten the design cycle, and is favorable to collaborative design for complex product.