劉辛軍
| 劉辛軍 |
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劉辛軍，清華大學機械工程系教授，博士生導師，傑青 ，萬人計劃領軍人才 ，系主任助理。 [1]
精密超精密製造裝備及控制北京市重點實驗室主任 ，主要研究機構學，先進制造裝備，機器人學。 [2]
目錄
基本信息
人物說明----教授
國 籍---- 中國
職 業---- 教育科研工作者
畢業院校----東北重型機械學院(現燕山大學)、燕山大學
知名作品----
教育背景
1996.9-1999.12，燕山大學(原東北重型機械學院)機械工程學院機器人研究所，博士研究生。
1994.9-1996.7，東北重型機械學院(現燕山大學)機器人研究所 ，碩士研究生。
1990.9-1994.7，東北重型機械學院(現燕山大學)機械系，本科生。
工作履歷
2011.12- 清華大學精儀系製造工程研究所，教授
2010.4-，清華大學精儀系製造工程研究所，副所長(主管科研工作)。
2009.9-，清華大學精儀系製造工程研究所，博士生導師。
2005.5-，清華大學精儀系製造工程研究所，副研究員。
2007.8.1-8.31，德國開姆坭茨 機床與成形技術Fraunhofer研究所，訪問學者(國家教育部和德國DFG基金會資助)。
2006.7 – 2006.8，加拿大魁北克大學蒙特利爾分校，Merit訪問學者(魁北克省教育部資助)。
2004.2 – 2005.4，德國斯圖加特大學機床控制工程與製造單元研究所，德國"洪堡學者"。
2003.4 – 2004.1，韓國首爾國立大學，"BK21"博士後。
2002.3 – 2003.3，韓國首爾國立大學，"中韓青年科學家交流計劃"客座研究人員。
2000.1 – 2002.2，清華大學精密儀器與機械學系製造工程研究所，博士後。
學術兼職
[1]. 期刊" Frontiers of Mechanical Engineering"編輯委員會委員。
[2]. 國際學術會議"The 2011 IEEE International Conference on Robotics and Automation"的Associate Editor。
[3]. 自然科學基金委機械學科"十二五"優先發展領域之"機構學與機械振動學"撰寫組成員。
[4]. 國際學術會議"The 2010 IEEE International Conference on Information and Automation"程序委員會委員。
[5]. 國際學術會議"The 2009 IEEE International Conference on Information and Automation"程序委員會委員。
[6]. 國際學術會議"The 2008 IEEE International Conference on Robotics and Biomimetics (ROBIO2008)"程序委員會委員。
[7]. "第七屆兩岸三地先進制造技術研討會"程序委員會委員。
[8]. 羅馬尼亞布加勒斯特科技大學學報"Romanian journal UPB Scientific Bulltin, Series D: Mechanical Engineering"編輯委員會委員。
中國機械工程學會高級會員。
北京市海淀區科學技術委員會科技項目評審專家。
出版著作
[1] Xin-Jun Liu and Jinsong Wang, Parallel Kinematics: Type, Kinematics, and Optimal Design, 2014, Springer, Netherlands, 2014. (ISBN 978-3-642-36928-5)
[2] Jinsong Wang and Xin-Jun Liu (Editors), Parallel Robotics: Recent Advances in Research and Application, 2008, Nova Science Publishers, New York, USA. (ISBN: 978-1-60456-859-2)
[3] 于靖軍，劉辛軍，丁希侖，戴建生 編著，機器人機構學的數學基礎，北京:機械工業出版社，2008。(ISBN: 978-7-111-24256-7)
發表SCI論文
[1] Jie Li, Fugui Xie, Xin-Jun Liu, Zeyuan Dong, Zhiyong Song, Weidong Li. A geometric error identification method for the swiveling axes of five-axis machine tools by static R-test.The International Journal of Advanced Manufacturing Technology, 89(9), 3393-3405, 2017.
[2] Fugui Xie, Xin-Jun Liu, Xuan Luo, Markus Wabner. Mobility, Singularity and kinematics analysis of a novel spatial parallel mechanism. Journal of Mechanisms and Robotics-Transactions of the ASME, 2016, 8:061022.
[3] Jie Li, Fugui Xie and Xin-Jun Liu, Geometric error modeling and sensitivity analysis of a five-axis machine tool. International Journal of Advanced Manufacturing Technology, Vol.82, pp.2037–2051，2016.
[4] Xie F G, Liu X J, Wang J S. Conceptual design and optimization of a 3-DoF parallel mechanism for a turbine blade grinding machine. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, Vol.230, No.3, pp.406–413, 2016.
[5] Fugui Xie, Xin-Jun Liu, Analysis of the kinematic characteristics of a high-speed parallel robot with Schonflies motion: Mobility, kinematics, and singularity, Frontiers of Mechanical Engineering, Vol.11, No.2, pp.135-143, 2016.
[6] Xiang Chen, Chao Chen, Xin-Jun Liu, Evaluation of Force/Torque Transmission Quality for Parallel Manipulators, Journal of Mechanisms Robotics-Transactions of the ASME, Vol.7, No.4, 041013-041013-9, 2015.
[7] Fugui Xie and Xin-Jun Liu, Design and development of a high-speed and high-rotation robot with four identical arms and a single platform, Journal of Mechanisms and Robotics -Transactions of the ASME, Vol.7, No.4, pp.041015-041015-12, 2015.
[8] Xin-Jun Liu, Jie Li and Yanhua Zhou, Kinematic optimal design of a 2-degree-of-freedom 3-parallelogram planar parallel manipulator, Mechanism and Machine Theory, Vol.87, No.5, pp.1-17, 2015.
[9] Fugui Xie, Xin-Jun Liu and Chao Wang, Design of a novel 3-DoF parallel kinematic mechanism: type synthesis and kinematic optimization, Robotica, Vol. 33, No. 3, pp 622 – 637, March 2015.
[10] Xiang Chen, Xin-Jun Liu, Fugui Xie. Screw theory based singularity analysis of lower-mobility parallel robots considering the motion/force transmissibility and constrainability. Mathematical Problems in Engineering, Article ID 487956, 2015.
[11] Fugui Xie, Xin-Jun Liu, Chao Wu and Pan Zhang, A novel spray painting robotic device for the coating process in automotive industry, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, Vol.229, No.11, pp.2081-2093 2015.
[12] Chen Y.Z.,Xie F.G.,LiuX.J.,Zhou Y.H.Error modeling and sensitivity analysis of a parallel robot with SCARA (selective compliance assembly robot arm) motions.Chinese Journalof Mechanical Engineering,Vol.27, No.4, pp. 693-702,2014.
[13] Xin-Jun Liu, Xiang Chen, and Meyer Nahon, Motion/force constrainability analysis of lower-mobility parallel manipulators, Journal of Mechanisms and Robotics -Transactions of the ASME, Vol.6, No.3, pp.031006, 2014.
[14] Fugui Xie, Xin-Jun Liu and Yanhua Zhou, Optimization of a redundantly actuated parallel kinematic mechanism for a 5-DoF hybrid machine tool, Proceedings of the Institution of Mechanical Engineers, Part B:JournalofEngineeringManufacture, Vol.228, No.12, pp. 1630-1641, 2014.
[15] LIU XinJun, WANG Chao & ZHOU YanHua, Topology optimization of thermoelastic structures using the guide-weight method, SCIENCE CHINA Technological Sciences,Vol.57, No.5, pp.968–979, May 2014.
[16] Xiang Chen, Xin-Jun Liu, Fugui Xie and Tao Sun, A comparison study on motion/force transmissibility of two typical 3-DOF parallel manipulators: the sprint Z3 and A3 tool heads, International Journal of Advanced Robotic Systems, Vol. 11, No.5, 10 pages, 2014.
[17] Fugui Xie, Xin-Jun Liu, and Yanhua Zhou, Development and experimental study of a redundant hybrid machine with five-face milling capability in one setup, International Journal of Precision Engineering and Manufacturing, Vol. 15, No. 1, pp. 13-21, 2014.
[18] Fugui Xie, Xin-Jun Liu, Zheng You, Jinsong Wang, Type synthesis of 2T1R-type parallel kinematic mechanisms and the application in manufacturing, Robotics and Computer- Integrated Manufacturing, Vol.30, No.1, pp.1-10, 2014.
[19] Fugui Xie, Xin-Jun Liu and Tiemin Li, A Comparison study on the orientation capability and parasitic motions of two novel articulated tool heads with parallel kinematics, Advances in Mechanical Engineering, 2013, Vol. 2013, Article ID 249103, 11 pages.
[20] XIE Fugui, LI Tiemin and LIU Xinjun, Type synthesis of 4-DoF parallel kinematic mechanisms based on grassmann line geometry and atlas method, Chinese Journal of Mechanical Engineering, Vol.26, No.6, pp.1073-1081, 2013.
[21] Zhou Yanhua, Xie Fugui, Liu Xinjun, Optimal design of a main driving mechanism for servo punch press based on performance atlases, Chinese Journal of Mechanical Engineering, Vol.26, No.5, pp. 909-917, Sep. 2013.
[22] Fugui Xie, Xin-Jun Liu and Tiemin Li, Type synthesis and typical application of 1T2R-type parallel robotic mechanisms, Mathematical Problems in Engineering, vol. 2013, Article ID 206181, 12 pages, 2013.
[23] Guoqin Gao, Juan Wen, Xinjun Liu, and Zhigang Zhang, Synchronous smooth sliding mode control for parallel mechanism based on coupling analysis, International Journal of Advanced Robotic Systems, Vol. 10, No.3, Article Number: 173, 10 pages, 2013.
[24] Xin-Jun Liu , Chao Wu, and Jinsong Wang, A new approach for singularity analysis and closeness measurement to singularities of parallel manipulators, Journal of Mechanisms and Robotics -Transactions of the ASME, Vol. 4, 041001-1~041001-10, Nov. 2012.
[25] Fugui Xie, Xin-Jun Liu, Jinsong Wang, A 3-DOF parallel manufacturing module and its kinematic optimization, Robotics and Computer-Integrated Manufacturing, Vol. 28, No.3, pp.334–343, 2012.
[26] Fugui Xie, Xin-Jun Liu and Jinsong Wang, Performance evaluation of redundant parallel manipulators assimilating motion/force transmissibility, International Journal of Advanced Robotic Systems, Vol. 8, No. 5, 113-124, 2011.
[27] XinJun Liu, Jing Wang, WeiYang Yu and JinHua Wu, Analysis and optimum design of rider-bicycle mechanisms: Design of bicycle parameters for a specified rider, SCIENCE CHINA Technological Sciences, Vol.54, No.11, pp.3027-3034, 2011.
[28] Li-Ping Wang, Fu-Gui Xie, Xin-Jun Liu and Jinsong Wang, Kinematic calibration of the 3-DOF parallel module of a 5-axis hybrid milling machine, Robotica, Vol.29, pp. 535–546, 2011.
[29] LIU XinJun, LI ZhiDong and CHEN Xiang, A new solution for topology optimization problems with multiple loads: The guide-weight method, SCIENCE CHINA Technological Sciences,Vol.54 No.6, pp.1505–1514, 2011.
[30] XIE FuGui, LIU XinJun, ZHANG Hui & WANG JinSong, Design and experimental study of the SPKM165, a five-axis serial-parallel kinematic milling machine, SCIENCE CHINA Technological Sciences,Vol.54 No.5, pp.1193–1205, 2011.
[31] Chao Wu, Xin-Jun Liu, Li-Ping Wang, Jinsong Wang, Dimension optimization of an orientation fine-tuning manipulator for segment assembly robots in shield tunneling machines, Automation in Construction, Vol.20, No.4, pp.353-359, 2011.
[32] Yuwen Li, Jinsong Wang, Xin-Jun Liu, Li-Ping Wang, Dynamic performance comparison and counterweight optimization of two 3-DOF parallel manipulators for a new hybrid machine tool, Mechanism and Machine Theory, Vol.45, No.11, pp.1668-1680, 2010.
[33] Jinsong Wang, Chao Wu, and Xin-Jun Liu, Performance evaluation of parallel manipulators: Motion/force transmissibility and its index, Mechanism and Machine Theory, Vol.45, No.10, pp.1462-1476, 2010.
[34] Xin-Jun Liu, Li-Ping Wang, Fugui Xie, and Ilian A. Bonev, Design of a three-axis articulated tool head with parallel kinematics achieving desired motion/force transmission characteristics, ASME Journal of Manufacturing Science and Engineering -Transactions of the ASME, Vol.132, No.2, 021009 (8 pages), 2010.
[35] Chao Wu, Xin-Jun Liu, Liping Wang, and Jinsong Wang, Optimal design of spherical 5R parallel manipulators considering the motion/force transmissibility, ASME Journal of Mechanical Design-Transactions of the ASME,Vol.132,No. 3,031002 (10 pages), 2010.
[36] Fugui Xie, Xin-Jun Liu, Li-Ping Wang, and Jinsong Wang, Optimal design and development of a decoupled A/B-axis tool head with parallel kinematics, Advances in Mechanical Engineering, vol. 2010, Article ID 474602, 14 pages, 2010.
[37] Stefan Staicu, Xin-Jun Liu, Jianfeng Li, Explicit dynamics equations of the constrained robotic systems, Nonlinear Dynamics, Vol. 58, No. 1-2, pp. 217-235 , 2009.
[38] WANG Jinsong, LIU XinJun, and WU Chao, Optimal design of a new spatial 3-DOF parallel robot with respect to a frame-free index, Science in China Series E-Technological Sciences,Vol.52, No.4,pp.986-999, 2009.
[39] Xin-Jun Liu, Jinsong Wang, Chao Wu and Jongwon Kim, A new family of spatial 3-DOF parallel manipulators with two translational and one rotational DOFs , Robotica, Vol. 27, No. 2, pp. 241-247, 2009.
[40] Jinsong Wang, Jun Wu, Tiemin Li and Xinjun Liu, Workspace and singularity analysis of a 3-DOF planar parallel manipulator with actuation redundancy, Robotica , Vol. 27, No. 01, pp 51-57, January 2009.
[41] CHANG Peng, WANG JinSong, LI TieMin, LIU XinJun & GUAN LiWen, Step kinematic calibration of a 3-DOF planar parallel kinematic machine tool, Science in China Series E: Technological Sciences, Vol.51, No.12, pp.2165-2177, Dec. 2008.
[42] Xin-Jun Liu and Ilian A. Bonev, Orientation capability, error analysis, and dimensional optimization of two articulated tool heads with parallel kinematics, Journal of Manufacturing Science and Engineering –Transactions of the ASME, Vol. 130, No.1, Article Number: 011015, 2008.
[43] Chen Tao, Wu Chao and Liu Xinjun, Structure and kinematic analysis of a novel 2-DOF translational parallel robot, Progress in Natural Science, Vol. 17, No. 10, pp. 1213-1219, 2007.
[44] Stefan Staicu, Xin-Jun Liu and Jinsong Wang, Inverse Dynamics of the HALF Parallel Manipulator with Revolute Actuators, Nonlinear Dynamics, Vol.50, No.1-2, pp. 1-12, Oct. 2007.
[45] Xin-Jun Liu and Jinsong Wang, A new methodology for optimal kinematic design of parallel mechanisms, Mechanism and Machine Theory, Vol.42, No.9, pp.1210-1224, 2007.
[46] Xin-Jun Liu, Liwen Guan and Jinsong Wang, Kinematics and closed optimal design of a kind of PRRRP parallel manipulator, Journal of Mechanical Design, Vol.129, No.5, pp.558-563, 2007.
[47] D. S. Kang, T.W. Seo, Y.H. Yoon, B.S. Shin, X.-J. Liu, J. Kim, A micro-positioning parallel mechanism platform with 100-degree tilting capability, CIRP Annals-Manufacturing Technology, Vol.55, No.1, pp.377-380, 2006.
[48] Xin-Jun Liu, Jinsong Wang and Günter Pritschow, On the optimal kinematic design of the PRRRP 2-DoF parallel mechanism, Mechanism and Machine Theory, Vol. 41, No.9, pp.1111-1130, 2006.
[49] Xin-Jun Liu, Optimal kinematic design of a three translational DoFs parallel manipulator, Robotica, Vol.24, No.2, pp 239-250, 2006.
[50] Xin-Jun Liu, Jinsong Wang and Jongwon Kim, Determination of the link lengths for a spatial 3-DoF parallel manipulator, Journal of Mechanical Design, Vol. 128, pp.365-373, 2006.
[51] Xin-Jun Liu, Jinsong Wang, and Hao-Jun Zheng, Optimum design of the 5R symmetrical parallel manipulator with a surrounded and good-conditioning workspace, Robotics and Autonomous Systems, Vol.54, No.3, pp 221-233, 2006.
[52] Xin-Jun Liu, Jinsong Wang and Günter Pritschow, Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms, Mechanism and Machine Theory, Vol.41, No.2, pp.145-169, 2006.
[53] Xin-Jun Liu, Jinsong Wang and Günter Pritschow, Performance atlases and optimum design of planar 5R symmetrical parallel mechanisms, Mechanism and Machine Theory, Vol.41, No.2, pp.119-144, 2006.
[54] Xin-Jun Liu and Jongwon Kim, A new spatial three-DoF parallel manipulator with high rotational capability, IEEE/ASME Transactions on Mechatronics, Vol.10, No.5, pp.502-512, Oct. 2005.
[55] Xin-Jun Liu, X. Tang and Jinsong Wang, HANA: a novel spatial parallel manipulator with one rotational and two translational degrees of freedom, Robotica, Vol.23, No.2, pp.257-270, 2005.
[56] Xin-Jun Liu Jinsong Wang and G. Pritschow, A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability, Mechanism and Machine Theory, Vol. 40, No. 4, pp.475-494, 2005.
[57] Xin-Jun Liu, Q.-M. Wang and Jinsong Wang, Kinematics, dynamics and dimensional synthesis of a novel 2-DoF translational manipulator, Journal of Intelligent & Robotic Systems, Vol.41, No.4, pp.205-224, 2005.
[58] K.-K. Oh, Xin-Jun Liu, D.S. Kang and J. Kim, Optimal design of a micro parallel positioning platform. Part II: real machine design, Robotica, Vol. 23, pp.109-122, 2005.
[59] Xin-Jun Liu, Jinsong Wang, Qiming Wang and Tiemin Li, Workspace and rotational capability analysis of a spatial 3-dof parallel manipulator, Progress in Natural Science, Vol. 14, No.11, pp.996-1003, 2004.
[60] K.-K. Oh, Xin-Jun Liu, D.S. Kang and J. Kim, Optimal design of a micro parallel positioning platform. Part I: Kinematic anlaysis, Robotica, Vol.22, No.6, pp.599-609, 2004.
[61] Xin-Jun Liu, Jinsong Wang, K.-K. Oh and J. Kim, A new approach to the design of a DELTA robot with a desired workspace, Journal of Intelligent & Robotic Systems, Vol.39, No.2, pp.209-225, 2004.
[62] Xin-Jun Liu and Jinsong Wang, Some new parallel mechanisms containing the planar four-bar parallelogram, International Journal of Robotics Research, Vol.22, No.9, pp.717-732, Sept. 2003.
[63] Xin-Jun Liu, Jinsong Wang and Haojun Zheng, Workspace atlases for the computer-aided design of the Delta robot, Proceedings of the I MECH E Part C: Journal of Mechanical Engineering Science, Vol.217, No.8, pp.861-869, Aug. 2003.
[64] Xin-Jun Liu, J. Jeong, and J. Kim, A three translational DoFs parallel cube-manipulator, Robotica, Vol.21, No.6, pp.645-653, 2003.
[65] Xin-Jun Liu, Jinsong Wang and F. Gao, Workspace atlases for the design of spherical 3-DOF serial wrists, Journal of Intelligent and Robotic Systems, Vol.36, No.4, pp.389-405, 2003.
[66] Jinsong Wang, and Xin-Jun Liu, Analysis of a novel cylindrical 3-DoF parallel robot, Robotics and Autonomous Systems, Vol.42, No.1 pp. 31-46, 2003.
[67] Xin-Jun Liu, Jinsong Wang, F. Gao and L.-P. Wang, On the analysis of a new spatial three degrees of freedom parallel manipulator, IEEE Transactions on Robotics and Automation, Vol.17, No.6, pp.959-968, 2001.
[68] Xin-Jun Liu, J. Wang, F. Gao and L.-P. Wang, The mechanism design of a simplified 6-DOF 6-RUS parallel manipulator, Robotica, Vol.20, No.1, pp.81-91, 2002.
[69] J. Li, Jinsong Wang, and Xinjun Liu, An efficient method for inverse dynamics of the kinematic defective parallel platforms, Journal of Robotic Systems, Vol. 19, No. 2, pp. 45-61, 2002.
[70] Xin-Jun Liu, Jinsong Wang and F. Gao, Performance atlases of the workspace for planar 3-DOF parallel manipulators, Robotica, 18(5): 563-568, 2000.
[71] Xin-Jun Liu, Z.-L. Jin and F. Gao, Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices, Mechanism and Machine Theory, 35 (2000), pp:1257~1267.
[72] F. Gao, Xin-Jun Liu and X. Chen, The relationships between the shapes of the workspaces and the link lengths of 3-DOF symmetrical planar parallel manipulators, Mechanism and Machine Theory, 36(2), pp:205~220, 2001.
[73] F. Gao, Xin-Jun Liu and William A. Gruver, Performance evaluation of two-degree-of- freedom planar parallel robots, Mechanism and Machine Theory, Vol.33, No.6, pp661-668, 1998.
研究方向
圍繞並聯機構及裝備設計理論這一核心問題，系統地開展了並聯機構構型綜合理論、性能評價體系、多參數尺度綜合方法、裝備研發技術及其共性基礎理論的研究。
建立了基於平行四邊形機構單元的構型設計方法，面向應用性能，發明了多種新型實用並聯機構，滿足了不同領域應用需求。
提出了綜合考慮運動和力傳遞特性的並聯機構性能分析理論和評價體系，以及相應的機構參數設計的思想，補充了並聯機構的設計理論。
基於空間模型理論，較系統地建立了基於性能圖譜和優質尺度域的參數尺度綜合方法，能更好地解決多指標需求下的尺度綜合問題，使工程設計更加靈活。
此外，形成了具有特色的多自由度聯動混聯裝備的自主研發技術體系，研發的部分裝備得到各界好評，並在企業的生產線上得到應用。
獎勵與榮譽
[1]. 2010年，獲得2010 International Conference on Intelligent Robotics and Applications的"Best Student Paper Award"。
[2]. 2010年，主持的自然科學基金項目"機器人機構優化設計新方法理論體系及關鍵技術研究"，在"第九屆海內外青年設計與製造會議暨吳賢銘製造科學會議"被評為優秀結題項目。(注:共有567個結題項目參展，從中評選出10個優秀項目，本項目排名第3)
[3]. 2010年，獲得清華大學"學術新人獎"(清華大學青年教師最高學術榮譽)。
[4]. 2008年，"新型並混聯機構與裝備應用研究"，獲得中國機械工業科學技術進步(發明類)一等獎。
[5]. 2009年，入選教育部"新世紀優秀人才支持計劃"。
[6]. 2008年，主持的自然科學基金項目"機器人機構優化設計新方法理論體系及關鍵技術研究"，在"第八屆海內外青年設計與製造會議暨吳賢銘製造科學會議"被評為優秀進展項目。(注:共有200多個進展項目參展，從中評選出10個優秀項目，本項目排名第1)
[7]. 2006年，獲得加拿大魁北克省教育部Merit 獎學金。(22人排名第5)
[8]. 2006年，入選北京市"科技新星"計劃A類(人才類)。
[9]. 2004 年，獲得德國洪堡基金會"洪堡研究獎學金"。
[10]. 2002 年11 月，獲2001 年度"清華大學優秀博士後"獎。
[11]. 2002年2月，國家人事部"中韓青年科學家交流計劃"獲得者。
[12]. 2001年8月，論文"DELTA並聯機器人最大內切工作空間的幾何求解"獲得"IEEE/CSS 北京分會優秀青年論文獎"。(作者排名第1)