文章插图
刘辛军【刘辛军】刘辛军，清华大学机械工程系教授，博士生导师，杰青，长江学者特聘教授，万人计画领军人才，系主任助理，精密超精密製造装备及控制北京市重点实验室主任，主要研究机构学，先进制造装备，机器人学 。
基本介绍中文名：刘辛军
国籍：中国
职业：清华大学教授
毕业院校：东北重型机械学院（现燕山大学）、燕山大学
主要成就：长江学者特聘教授国家杰出青年科学基金获得者万人计画领军人才
教育背景1996.9－1999.12，燕山大学(原东北重型机械学院)机械工程学院机器人研究所，博士研究生 。1994.9－1996.7，东北重型机械学院（现燕山大学）机器人研究所，硕士研究生 。1990.9－1994.7，东北重型机械学院（现燕山大学）机械系，本科生 。工作履历2011.12- 清华大学精仪系製造工程研究所，教授2010.4－，清华大学精仪系製造工程研究所，副所长（主管科研工作） 。2009.9－，清华大学精仪系製造工程研究所，博士生导师 。2005.5－，清华大学精仪系製造工程研究所，副研究员 。2007.8.1－8.31，德国开姆坭茨 工具机与成形技术Fraunhofer研究所，访问学者（国家教育部和德国DFG基金会资助） 。2006.7 – 2006.8，加拿大魁北克大学蒙特娄分校，Merit访问学者(魁北克省教育部资助) 。2004.2 – 2005.4，德国斯图加特大学工具机控制工程与製造单元研究所，德国“洪堡学者” 。2003.4 – 2004.1，韩国首尔国立大学，“BK21”博士后 。2002.3 – 2003.3，韩国首尔国立大学，“中韩青年科学家交流计画”客座研究人员 。2000.1 – 2002.2，清华大学精密仪器与机械学系製造工程研究所，博士后 。学术兼职[1]. 期刊” Frontiers of Mechanical Engineering”编辑委员会委员 。[2]. 国际学术会议“The 2011 IEEE International Conference on Robotics and Automation”的Associate Editor 。[3]. 自然科学基金委机械学科“十二五”优先发展领域之“机构学与机械振动学”撰写组成员 。[4]. 国际学术会议“The 2010 IEEE International Conference on Information and Automation”程式委员会委员 。[5]. 国际学术会议“The 2009 IEEE International Conference on Information and Automation”程式委员会委员 。[6]. 国际学术会议“The 2008 IEEE International Conference on Robotics and Biomimetics (ROBIO2008)”程式委员会委员 。[7]. “第七届两岸三地先进制造技术研讨会”程式委员会委员 。[8]. 罗马尼亚布加勒斯特科技大学学报“Romanian journal UPB Scientific Bulltin, Series D: Mechanical Engineering”编辑委员会委员 。中国机械工程学会高级会员 。北京市海淀区科学技术委员会科技项目评审专家 。出版着作[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] 于靖军，刘辛军，丁希侖，戴建生 编着，机器人机构学的数学基础，北京：机械工业出版社，2008 。(ISBN: 978-7-111-24256-7)发表SCI论文[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] ChenY.Z.,XieF.G.,LiuX.J.,ZhouY.H.ErrormodelingandsensitivityanalysisofaparallelrobotwithSCARA(selectivecomplianceassemblyrobotarm)motions.ChineseJournalofMechanicalEngineering,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.研究方向围绕并在线上构及装备设计理论这一核心问题，系统地开展了并在线上构构型综合理论、性能评价体系、多参数尺度综合方法、装备研发技术及其共性基础理论的研究 。建立了基于平行四边形机构单元的构型设计方法，面向套用性能，发明了多种新型实用并在线上构，满足了不同领域套用需求 。提出了综合考虑运动和力传递特性的并在线上构性能分析理论和评价体系，以及相应的机构参数设计的思想，补充了并在线上构的设计理论 。基于空间模型理论，较系统地建立了基于性能图谱和优质尺度域的参数尺度综合方法，能更好地解决多指标需求下的尺度综合问题，使工程设计更加灵活 。此外，形成了具有特色的多自由度联动混联装备的自主研发技术体系，研发的部分装备得到各界好评，并在企业的生产线上得到套用 。奖励与荣誉[1]. 2010年，获得2010 International Conference on Intelligent Robotics and Applications的“Best Student Paper Award“ 。[2]. 2010年，主持的自然科学基金项目“机器人机构最佳化设计新方法理论体系及关键技术研究”，在“第九届海内外青年设计与製造会议暨吴贤铭製造科学会议”被评为优秀结题项目 。（注：共有567个结题项目参展，从中评选出10个优秀项目，本项目排名第3）[3]. 2010年，获得清华大学“学术新人奖”（清华大学青年教师最高学术荣誉） 。[4]. 2008年，“新型并混在线上构与装备套用研究”，获得中国机械工业科学技术进步（发明类）一等奖 。[5]. 2009年，入选教育部“新世纪优秀人才支持计画” 。[6]. 2008年，主持的自然科学基金项目“机器人机构最佳化设计新方法理论体系及关键技术研究”，在“第八届海内外青年设计与製造会议暨吴贤铭製造科学会议”被评为优秀进展项目 。（注：共有200多个进展项目参展，从中评选出10个优秀项目，本项目排名第1）[7]. 2006年，获得加拿大魁北克省教育部Merit 奖学金 。(22人排名第5)[8]. 2006年，入选北京市“科技新星”计画A类（人才类） 。[9]. 2004 年，获得德国洪堡基金会“洪堡研究奖学金” 。[10]. 2002 年11 月，获2001 年度“清华大学优秀博士后”奖 。[11]. 2002年2月，国家人事部“中韩青年科学家交流计画”获得者 。[12]. 2001年8月，论文“DELTA并在线上器人最大内切工作空间的几何求解”获得“IEEE/CSS 北京分会优秀青年论文奖” 。(作者排名第1)[13].2016年4月，当选2015年度长江学者 。