| 姓名： |
宋轶民 |
 |
| 性别： |
男 |
| 英文名： |
Song Yimin |
| 人才称号： |
|
| 职称： |
教授 |
| 职务： |
|
专业： |
机械设计及理论 |
| 所在机构： |
机械工程系，机构学与机器人系统实验室 |
个人主页： |
|
| 邮箱： |
ymsong@tju.edu.cn |
办公地点： |
37-352 |
| 传真： |
|
办公电话： |
|
| 主要学历： |
1989.09-1993.07 天津大学机械制造工艺及设备专业、技术经济专业，本科生，获工学(双)学士学位
1993.09-1996.03 天津大学机械学专业，研究生，获工学硕士学位
1996.03-1999.03 天津大学机械设计及理论专业，研究生，获工学博士学位
|
| 主要学术经历： |
1999.04-2001.04 北京工业大学机械工程及应用电子技术学院，博士后
2001.05-至今 天津大学机械工程学院机械工程系，副教授(2001.07)，硕导(2002.12)，教授(2009.06)，博导(2009.12)
2008.03-2008.05 英国Warwick大学，高级访问学者
2007.06-2011.04 天津大学机械工程学院副院长
2010.12-2019.05 天津大学机械工程学院党委书记
|
| 主要研究方向： |
1. 机器人与机构学
2. 机械动力学
3. 机械传动
|
| 主要讲授课程： |
设计与制造基础2B (本科生 56学时)
|
| 主要学术兼职： |
中国机械工程学会机器人分会、机械传动分会及IFToMM中国委员会委员
教育部高等学校机械基础课程教学指导分委员会委员
天津市机械工程学会常务理事
|
| 主要学术成就： |
2023 国家级教学成果一等奖
2022 天津市级教学成果特等奖
2020 天津市技术发明一等奖
2018 国家级教学成果二等奖
2018 天津市级教学成果一等奖
2013 中国机械工业科学技术奖(发明类)一等奖
2013 天津市五一劳动奖章
2009 天津市级教学成果一等奖
2002 天津市自然科学二等奖
|
| 主要科研项目： |
1. 高性能模切一体加工机器人设计方法与关键技术, 国家自然科学基金面上项目, 52275027, 54万, 2023.01-2026.12, 项目负责人
2. 并联机构代数化构型综合与性能分析的一体方法及其软件技术, 国家自然科学基金面上项目, 51875391, 61万, 2019.01-2022.12, 第一完成人
3. 星间链路天线并联精准角跟踪机构设计理论与关键技术研究, 国家自然科学基金面上项目, 51475321, 86万, 2015.01-2018.12, 第一完成人
4. 新型五坐标混联动力头设计理论与关键技术研究, 国家自然科学基金面上项目, 51075295, 40万, 2011.01-2013.12, 第一完成人
5. 含刚柔混合支链的高速并联机械手的结构学原理与动态设计, 国家自然科学基金面上项目, 50675151, 29万, 2007.01-2009.12, 第一完成人
|
| 代表性论著： |
[1]He ZY, Song YM, Lian BB, Sun T. Kinematic calibration of a 6-DoF parallel manipulator with random and less measurements, IEEE Transactions on Instrumentation and Measurement, 2023, 72: 7500912.
[2]Liu CB, Song YM, Ma XL, Sun T. Accurate and robust registration method for computer-assisted high tibial osteotomy surgery, International Journal of Computer Assisted Radiology and Surgery, 2023, 18(2): 329-337.
[3]Wang M, Song YM, Wang PF, Chen YC, Sun T. Grinding/cutting technology and equipment of multi-scale casting parts, Chinese Journal of Mechanical Engineering (English Edition), 2022, 35: 97.
[4]Wang M, Song YM, Lian BB, Wang PF, Chen KX, Sun T. Dimensional parameters and structural topology integrated design method of a planar 5R parallel machining robot, Mechanism and Machine Theory, 2022, 175: 104964.
[5]Liu CB, Sun T, Ma X, Song YM, Zhang T. Reliability of lower limb alignment measures based on human body surface points, Journal of Medical and Biological Engineering, 2022, 42(2): 234-241.
[6]Song YM, Liu MM, Lian BB, Qi, Y, Wang Y, Wu J, Li Q. Industrial serial robot calibration considering geometric and deformation errors, Robotics and Computer-Integrated Manufacturing, 2022, 76: 102328.
[7]Liu SD, Song YM, Lian BB, Sun T. A general pose recognition method and its accuracy analysis for 6-axis external fixation mechanism using image markers, Machines, 2022, 10(12): 1234.
[8]Liu XY, Yang Q, Wang L, Huo XM, Song YM, Sun T. Design, modeling and analysis of a novel self-crossing mechanism, Mechanism and Machine Theory, 2021, 162: 104358.
[9]Huo XM, Lian BB, Wang PF, Sun T, Song YM. Dynamic identification of a tracking parallel mechanism, Mechanism and Machine Theory, 2021, 155: 104091.
[10]Sun T, Liu CY, Lian BB, Wang PF, Song YM. Calibration for precision kinematic control of an articulated serial robot. IEEE Transactions on Industrial Electronics, 2021, 68(7): 6000-6009.
[11]Liang D, Song YM, Qi Y, Dong JZ. Efficient modeling and integrated control for tracking and vibration of a lightweight parallel manipulator including servo motor dynamics, Mechanical Systems and Signal Processing, 2021, 153, 107502.
[12]Zhang JT, Song YM, Liang D. Mathematical modeling and dynamic characteristic analysis of a novel parallel tracking mechanism for inter-satellite link antenna, Applied Mathematical Modelling, 2021, 93: 618-643.
[13]He ZY, Lian BB, Li Q, Zhang Y, Song YM, Yang Y, Sun T. An error identification and compensation method of a 6-DoF parallel kinematic machine, IEEE Access, 2020, 8: 119038-119047.
[14]Huo XM, Yang SF, Lian BB, Sun T, Song YM. A survey of mathematical tools in topology and performance integrated modeling and design of robotic mechanism, Chinese Journal of Mechanical Engineering (English Edition), 2020, 33: 62.
[15]Sun T, Lian BB, Yang SF, Song YM. Kinematic calibration of serial and parallel robots based on finite and instantaneous screw theory, IEEE Transactions on Robotics, 2020, 36(3): 816-834.
[16]Sun T, Chen YL, Han TY, Jiao CL, Lian BB, Song YM. A soft gripper with variable stiffness inspired by pangolin scales, toothed pneumatic actuator and autonomous controller, Robotics and Computer-Integrated Manufacturing, 2020, 61: 101848.
[17]Sun T, Lian BB, Song YM, Feng L. Elasto-dynamic optimization of a 5-DoF parallel kinematic machine considering parameter uncertainty, IEEE/ASME Transactions on Mechatronics, 2019, 24(1): 315-325.
[18]Zhang JT, Lian BB, Song YM. Geometric error analysis of an over-constrained parallel tracking mechanism using the screw theory, Chinese Journal of Aeronautics, 2019, 32(6): 1541-1554.
[19]Liang D, Song YM, Sun T, Jin XY. Dynamic modeling and hierarchical compound control of a novel 2-DOF flexible parallel manipulator with multiple actuation modes, Mechanical Systems and Signal Processing, 2018, 103: 413-439.
[20]Sun T, Liang D, Song YM. Singular-perturbation-based nonlinear hybrid control of redundant parallel robot, IEEE Transactions on Industrial Electronics, 2018, 65(4): 3326-3336.
[21]Qi Y, Sun T, Song YM. Multi-objective optimization of parallel tracking mechanism considering parameter uncertainty, ASME Trans. Journal of Mechanisms and Robotics, 2018, 10(4): 041006.
[22]Huo XM, Sun T, Song YM, Qi Y, Wang PF. An analytical approach to determine motions/constraints of serial kinematic chains based on Clifford algebra, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2017, 231(7): 1324-1338.
[23]Liang D, Song YM, Sun T, Jin XY. Rigid-flexible coupling dynamic modeling and investigation of a redundantly actuated parallel manipulator with multiple actuation modes, Journal of Sound and Vibration, 2017, 403: 129-151.
[24]Liang D, Song YM, Sun T. Nonlinear dynamic modeling and performance analysis of a redundantly actuated parallel manipulator with multiple actuation modes based on FMD theory, Nonlinear Dynamics, 2017, 89(1): 391-428.
[25]Huo XM, Sun T, Song YM. A geometric algebra approach to determine motion/constraint, mobility and singularity of parallel mechanism, Mechanism and Machine Theory, 2017, 116: 273-293.
[26]Qi Y, Sun T, Song YM. Type synthesis of parallel tracking mechanism with varied axes by modeling its finite motions algebraically, ASME Trans. Journal of Mechanisms and Robotics, 2017, 9(5): 054504.
[27]Sun T, Xiang X, Su WH, Wu H, Song YM. A transformable wheel-legged mobile robot: Design, analysis and experiment, Robotics and Autonomous Systems, 2017, 98: 30-41.
[28]Song YM, Zhang JT, Lian BB, Sun T. Kinematic calibration of a 5-DoF parallel kinematic machine, Precision Engineering, 2016, 45: 242-261.
[29]Lian BB, Sun T, Song YM, Wang XL. Passive and active gravity compensation of horizontally-mounted 3-RPS parallel kinematic machine, Mechanism and Machine Theory, 2016, 104: 190-201.
[30]Dong G, Sun T, Song YM, Gao H, Lian BB. Mobility analysis and kinematic synthesis of a novel 4-DoF parallel manipulator, Robotica, 2016, 34(5): 1010-1025.
[31]Song YM, Dong G, Sun T, Lian BB. Elasto-dynamic analysis of a novel 2-DoF rotational parallel mechanism with an articulated travelling platform, Meccanica, 2016, 51(7): 1547-1557.
[32]Sun T, Zhai YP, Song YM, Zhang JT. Kinematic calibration of a 3-DoF rotational parallel manipulator using laser tracker, Robotics and Computer-Integrated Manufacturing, 2016, 41: 78-91.
[33]Sun T, Lian BB, Song YM. Stiffness analysis of a 2-DoF over-constrained RPM with an articulated traveling platform, Mechanism and Machine Theory, 2016, 96: 165-178.
[34]Liang D, Song YM, Sun T, Dong G. Optimum design of a novel redundantly actuated parallel manipulator with multiple actuation modes for high kinematic and dynamic performance, Nonlinear Dynamics, 2016, 83: 631-658.
[35]Song YM, Qi Y, Dong G, Sun T. Type synthesis of 2-DoF rotational parallel mechanisms actuating the inter-satellite link antenna, Chinese Journal of Aeronautics, 2016, 29(6): 1795-1805.
[36]Lian BB, Sun T, Song YM, Jin Y, Price M. Stiffness analysis and experiment of a novel 5-DoF parallel kinematic machine considering gravitational effects, International Journal of Machine Tools & Manufacture, 2015, 95: 82-96.
[37]Sun T, Song YM, Gao H, Qi Y. Topology synthesis of a 1-Translational and 3-Rotational parallel manipulator with an articulated traveling plate, ASME Trans. Journal of Mechanisms and Robotics, 2015, 7(3): 031015.
[38]Qi Y, Sun T, Song YM, Jin Y. Topology synthesis of three-legged spherical parallel manipulators employing Lie group theory, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2015, 229(10): 1873-1886.
[39]Jia SS, Song YM. Elastic dynamic analysis of synchronous belt drive system using absolute nodal coordinate formulation, Nonlinear Dynamics, 2015, 81(3): 1393-1410.
[40]Song YM, Lian BB, Sun T, Dong G, Qi Y, Gao H. A novel five-degree-of-freedom parallel manipulator and its kinematic optimization, ASME Trans. Journal of Mechanisms and Robotics, 2014, 6(4): 041008.
[41]Song YM, Gao H, Sun T, Dong G, Lian BB, Qi Y. Kinematic analysis and optimal design of a novel 1T3R parallel manipulator with an articulated travelling plate, Robotics and Computer-Integrated Manufacturing, 2014, 30(5): 508-516.
[42]Sun T, Song YM, Dong G, Lian BB, Liu JP. Optimal design of a parallel mechanism with three rotational degrees of freedom, Robotics and Computer-Integrated Manufacturing, 2012, 28(4): 500-508.
[43]Sun T, Song YM, Li YG, Xu L. Separation of comprehensive geometrical errors of a 3-dof parallel manipulator based on Jacobian matrix and its sensitivity analysis with Monte-Carlo method, Chinese Journal of Mechanical Engineering (English Edition), 2011, 24(3): 406-413.
[44]Sun T, Song YM, Li YG, Zhang J. Workspace decomposition based dimensional synthesis of a novel hybrid reconfigurable robot, ASME Trans. Journal of Mechanisms and Robotics, 2010, 2(3): 031009.
[45]Sun T, Song YM, Li YG, Liu LS. Dimensional synthesis of a 3-DOF parallel manipulator based on dimensionally homogeneous Jacobian matrix, Science China Technological Sciences, 2010, 53(1): 168-174.
|
|
