【概况】

刘海涛，天津大学讲席教授，博士生导师，国家自然科学基金杰出青年科学基金和优秀青年科学基金获得者，德国洪堡学者，国际机构学与机器科学联合会（IFToMM）中国委员会副主席，机构理论与装备设计教育部重点实验室副主任，中国机械工程学会机器人分会常务委员，中国自动化学会共融机器人专委会委员，中国自动化学会机器人专委会委员，天津市中青年科技创新领军人才，天津市机器人学会副理事长。主要研究方向为机器人机构学、机器人技术、智能制造技术，主持国家科技重大专项、国家重点研发计划、国家自然科学基金、JKW项目等，参与国家自然科学基金创新群体项目、重大专项集成项目等，在IEEE Transactions on Robotics、Mechanism and Machine Theory、Robotics and Computer-Integrated Manufacturing等国内外期刊及国际会议发表学术论文150余篇，授权国家发明专利50余件、美国和欧洲专利4件，向企业实施成果转化8件；获国家技术发明二等奖、天津市技术发明一等奖，中国机械工业科学技术一等奖、中国机械工程学会青年科技奖、中国专利优秀奖、天津市专利金奖、中国好设计金奖等科技奖励。欢迎具备机械工程、力学、精密测量、自动化等相关学科背景的学生推免或者报考本人的硕士/博士研究生。

【教育背景】

2006年9月 至 2010年3月 天津大学机械工程学院机械系机械制造及其自动化专业（博士） 导师：黄田 2004年9月 至 2006年8月 天津大学机械工程学院机械系机械制造及其自动化专业（硕士） 导师：黄田 2000年9月 至 2004年8月 天津大学机械工程学院机械系机械设计制造及其自动化专业（学士）

【学术经历】

2024年1月 至 今 天津大学 讲席教授 2017年1月 至 2023年12月 天津大学机械工程学院机械系 教授 2014年9月 至 2016年12月 天津大学机械工程学院机械系 副教授 2012年11月 至 2014年6月 德国杜伊斯堡-埃森大学 博士后 2010年4月 至 2012年10月 总参谋部第六十研究所 工程师

【讲授课程】

1． 工程材料及机械制造基础 2． 学科前沿系列讲座 3． 机械工程训练基础

【教学成果】

“面向国家重大需求—高端制造装备研究过程中‘三全育人’的实践与成效”获天津大学研究生教育教学成果特等奖。

【研究方向】

1． 机器人机构学 2． 机器人技术 3． 智能制造技术

【学术兼职】

2025--，国际机构学与机器科学联合会（IFToMM）中国委员会 副主席 2025--，机构理论与装备设计教育部重点实验室 副主任 2024--，中国机械工程学会机器人分会 常务委员 2024--，中国自动化学会共融机器人专委会 委员 2024--，中国自动化学会机器人专委会 委员 2024--，天津市机器人学会 副理事长

【科研项目及成果】

作为项目负责人，负责的主要项目有： 1.2025-2028 面向航空结构件加工的新结构机床设计与综合性能调控方法，国家自然科学基金通用企业联合基金重点项目，260万，主持 2.2024-2028 混联机器人机构学，国家自然科学基金杰出青年科学基金，400万，主持 3.2024-2027 XXX，国家科技重大专项项目，2.35亿，主持 4.2023-2026 XXX，工信部项目，5000万，主持 5.2020-2021 XXX，JKW项目，100万，主持 6.2017-2021 混联机构加工机器人关键技术与装备，国家重点研发计划智能机器人专项项目，2835万，主持 7.2017-2019 机构学与机器人，国家自然科学基金优秀青年科学基金，130万，主持 8.2015-2017 足底驱动柔性步态模拟机构设计理论与控制方法研究，国家自然科学基金青年基金，26万，主持 9.2014-2018 五轴联动数控机床误差补偿与S试件测量技术研究，国家科技重大专项课题，311万，主持

【代表性论著】

[1]J. L, Han, H. F. Cheng, X. L. Shan, H. T. Liu*, J. L. Xiao, T. Huang. A Novel Multi-Pulse Friction Compensation Strategy for Hybrid Robots, Mech. Mach. Theory, 201: 105726, 2024. (SCI) [2]S. F. Meng, H. H. Zhao, J. Y. Dong, W. Liu, H. T. Liu*, J. L. Xiao. Effect of process parameters on the mechanical properties of simultaneous double-sided friction stir welding joints, Chin. J. Mech. Eng., 37(129), 2024. (SCI) [3]H. T. Liu*, J. F. Zhou, G. X. Li, J. L. Xiao, X. H. Zheng. An effective trajectory scheduling method for a 5-DOF hybrid machining robot, Ind. Robot, 2024. (SCI) [4]W. Ma, H. T. Liu*, G. F. Wang, J. L. Xiao. An elastodynamic modeling approach based on experimental substructuring for a mobile hybrid robot, Mech. Mach. Theory, 205 (2025), 2025. (SCI) [5]H. T. Liu*, H. Y. Wu, C. L. Wu, Z. B. Yan, H. Y. Wu. A data-driven error compensation method for hybrid machining robots, The 24th CCMMS Congress, 2024. (EI) [6]H. F. Cheng, H. T. Liu*, J. L, Han. A Gravity Prediction Method for 6-DOF Hybrid Robot Based on Knowledge Distillation, The 24th CCMMS Congress, 2024. (EI) [7]H. Y. Wu, H. T. Liu*, J. Y. Shi, J. F. Zhou, C. L. Wu. Derivation of Jacobian and Acceleration Model of a New 6-DOF Over-constrained Parallel Mechanism, The 24th CCMMS Congress, 2024. (EI) [8]J. F. Zhou, H. T. Liu*, G. X. Li, H. Y. Wu. Development of a simulation system for hybrid machining robot trajectory scheduling, The 24th CCMMS Congress, 2024. (EI) [9]J. M. Gao, X. Y. Sun, H. T. Liu*, Q. P. Xu, S. F. Meng. An Iterative Method for Correcting Radiation Temperature of Aluminum Alloy Plate in FSW Based on the Emissivity Model, The 24th CCMMS Congress, 2024. (EI) [10]Q. P. Xu, H. T. Liu*, Y. G. Huang, Y. B. Ding, J. L. Xiao, Y. J. Wang. An Automated Extrinsic Calibration Method of a multi-layer LiDAR and a Camera, IEEE International Conference on Signal, Information and Data Processing, 2024. (EI) [11]W. Yue, H. T. Liu*, G. X. Li, K. Xu. Approach for Identifying Cartesian Stiffness of a 5-Degree-of-Freedom Hybrid Robot for Machining, J. Mech. Robot., 16(3): 031009, 2024. (SCI) [12]Z. B. Yan, Y. Y. Wang, H. T. Liu*, J. L. Xiao, T. Huang, An improved data-driven calibration method with high efficiency for a 6-DOF hybrid robot, Machines, 11(1): 31, 2023. (SCI) [13]J. L. Xiao, M. L. Wang, H. T. Liu*, S. J. Liu, H. H. Zhao, J. S. Gao, A constant plunge depth control strategy for robotic FSW based on online trajectory generation, Robot. Comput.-Integr. Manuf., 80: 102479, 2023. (SCI) [14]W. Yue, H. T. Liu*, J. L. Xiao, T. Huang. An approach for predicting the tool forces in friction stir welding of AA6061‑T6 aluminium alloy, Int. J. Adv. Manuf. Technol, 126(11-12): 5289-5305,2023. (SCI) [15]S. F. Meng, H. T. Liu*, W. Yue, J. L. Xiao, T. Huang, Y. B. Ni. An inversion method for identifying the convection heat transfer coefcients of friction stir welding using a surrogate model, Int. J. Adv. Manuf. Technol, 126(11-12): 5353-5369,2023. (SCI) [16]J. L. Han, X. L. Shan, H. T. Liu*, J. L. Xiao, T. Huang. Fuzzy gain scheduling PID control of a hybrid robot based on dynamic characteristics, Mech. Mach. Theory, 184: 105283,2023. (SCI) [17]H. T. Liu*, Q. P. Xu, Y. G. Huang, Y. B. Ding, J. L. Xiao. A Method for Synchronous Automated Extrinsic Calibration of LiDAR and Cameras Based on a Circular Calibration Board, IEEE Sens. J., 23(20): 25026-25035,2023. (SCI) [18]W. Yue, H. T. Liu*, S. F. Meng, Y. J. Bai, G. X. Li, Y. B. Song. Kinetostatic Modeling of a 5-DOF Hybrid Robot Considering the Gravitational Effect, The 16th IFToMM World Congress, 2023. (EI) [19]H. T. Liu, Y. J. Wang, X. L. Shan*, W. Yue, Q. P. Xu, J. Y. Shi, H. Wei, J. H. Yi. An integral-elimination based inertial and friction parameters identification method, The 16th IFToMM World Congress, 2023. (EI) [20]W. X. Wen, H. T. Liu*, Y. B. Ni, Q. P. Xu, Y. G. Huang, Y. Wei, Z. X. Xiang, J. R. Wu. A Task Scheduling Method for Multi-robot Collaboration, The 16th IFToMM World Congress, 2023. (EI) [21]C. L. Wu, H. T. Liu*, Z. B. Yan, T. Huang, H. Y. Wu, X. B. Ge. A Local Overfitting Alleviation Method for Data-Driven Calibration Applied in a 5-DOF Hybrid Robot, The 16th IFToMM World Congress, 2023. (EI) [22]H. Y. Wu, H. T. Liu*, W. Yue, J. L. Han, W. Ma, H. F. Cheng, J. F, Zhou. Comparison of two 6-DOF parallel mechanisms based on kinematic models, The 16th IFToMM World Congress, 2023. (EI) [23]H. T. Liu, Y. Wang, X. L. Shan*, Full closed loop‑based dynamic accuracy enhancement for elastic joints, J. Power Electron., 22: 959-969, 2022. (SCI) [24]H. T. Liu*, Z. B. Yan, J. L. Xiao, Pose error prediction and real-time compensation of a 5-DOF hybrid robot, Mech. Mach. Theory, 170: 104737, 2022. (SCI) [25]H. T. Liu*, G. X. Li, J. L. Xiao, A C3 continuous toolpath corner smoothing method for a hybrid machining robot, J. Manuf. Process., 75: 1072-1088, 2022. (SCI) [26]G. X. Li, H. T. Liu*, S. J, J. L. Xiao, A general C2 continuous toolpath corner smoothing method for a 5-DOF hybrid robot, Mech. Mach. Theory, 169: 104640, 2022. (SCI) [27]G. X. Li, H. T. Liu*, T. Huang, J. L. Han, J. L. Xiao, An effective approach for non-singular trajectory generation of a 5-DOF hybrid machining robot, Robot. Comput.-Integr. Manuf, 80: 102477, 2022. (SCI) [28]S. F. Meng, H. T. Liu*, J. L. Xiao, T. Huang, Y. B. Ni, S. X. Sun, A method for process parameter optimization of simultaneous double‑sided friction stir welding using a heat transfer model, Int. J. Adv. Manuf. Technol, 121(5-6): 3747-3758, 2022. (SCI) [29]W. Yue, H. T. Liu*, T. Huang, An approach for predicting stiffness of a 5-DOF hybrid robot for friction stir welding . Mech. Mach. Theory, 175: 104941, 2022. (SCI) [30]X. L. Shan, Y. H. Li, H. T. Liu*, T. Huang, Residual vibration reduction of high‑speed pick‑and‑place parallel robot using input shaping, Chin. J. Mech. Eng-En, 35: 1-8, 2022. (SCI) [31]J. L. Xiao, S. J. Liu, H. T. Liu*, M. L. Wang, G. X. Li, Y. P. Wang, A jerk-limited heuristic feedrate scheduling method based on particle swarm optimization for a 5-DOF hybrid robot, Robot. Comput.-Integr. Manuf., 78: 102396, 2022. (SCI) [32]K. Xu, H. T. Liu*, Design of a flexure-jointed linkage in a quadruped walking robot, IEEE/ASME T. Mech., 27(5): 4022-4032, 2022. (SCI) [33]K. Xu, H. T. Liu*, Design of a compliant flapping-wing mechanism with flapping-twist-swing motion, IEEE/ASME T. Mech., 27(6): 5197-5207, 2022. (SCI) [34]C. L. Dong, H. T. Liu*, T. Huang, J. L. Xiao, Dynamic modeling and design of a 5-DOF hybrid robot for machining, Mech. Mach. Theory, 165: 104438, 2021. (SCI) [35]M. X. Wang, Q. S. Chen, H. T. Liu*, H. T. Feng, W. J. Tian, Evaluation of the Kinematic Performance of a 3-RRS Parallel Mechanism, Robotica, 39(4): 606-617, 2021. (SCI) [36]G. Li, H. T. Liu*, W. Yue, J. L. Xiao, Feedrate scheduling of a five-axis hybrid robot for milling considering drive constraints, Int. J. Adv. Manuf. Technol., 2021. (SCI) [37]K. Xu, H. T. Liu*, W. Yue, J. L. Xiao, Y. B. Ding, G. F. Wang, Kinematic modeling and optimal design of a partially compliant four-bar linkage using elliptic integral solution, Mech. Mach. Theory, 157: 104214, 2021. (SCI) [38]K. Xu, H. T. Liu*, J. L. Xiao, Static deflection modeling of combined flexible beams using elliptic integral solution, Int. J. Nonlin. Mech., 129: 103637, 2021. (SCI) [39]H. T. Liu, H. R. Liu, X. L. Shan*, Linear active disturbance rejection control with torque compensation for electric load simulator, J. Power Electron.,12(1): 195-203, 2021. (SCI) [40]H. T. Liu*, D. X. Zhu, J. L. Xiao, Conceptual design and parameter optimization of a variable stiffness mechanism for producing constant output forces, Mech. Mach. Theory, 154: 104033, 2020. (SCI) [41]S. L. Xie, H. T. Liu*, Y. Wang, A method for the length-pressure hysteresis modeling of pneumatic artificial muscles, Sci. China Technol. Sc., 63(5): 829-837, 2020. (SCI) [42]S. L. Xie, K. M. Hu, H. T. Liu*, Y. J. Wan, Dynamic modeling and performance analysis of a new redundant parallel rehabilitation robot, IEEE Access, 8: 222211-222225, 2020. (SCI) [43]H. T. Liu*, K. Xu, H. P. Shen, X. L. Shan, T. L. Yang, Type synthesis of 1T2R parallel mechanisms using structure coupling-reducing method, Chin. J. Mech. Eng., 32(1): 89, 2019. (SCI) [44]H. Wang, W. Li, H. T. Liu*, J. Zhang, S. Liu, Conceptual design and dimensional synthesis of a novel parallel mechanism for lower-limb rehabilitation, Robotica, 37(3): 469-480, 2019. (SCI) [45]T. Huang, C. L. Dong, H. T. Liu*, T. Sun, D. G. Chetwynd, A simple and visually orientated approach for type synthesis of overconstrained 1T2R parallel mechanisms, Robotica, 37(7): 1161-1173, 2018. (SCI) [46]C. L. Dong, H. T. Liu*, W. Yue, T. Huang, Stiffness modeling and analysis of a novel 5-DOF hybrid robot, Mech. Mach. Theory, 125: 80-93, 2018. (SCI) [47]S. L. Xie, H. T. Liu*, J. P. Mei, G. Y Gu, Modeling and compensation of asymmetric hysteresis for pneumatic artificial muscles with a modified generalized Prandtl–Ishlinskii model, Mechatronics, 52: 49-57, 2018. (SCI) [48]J. P. Mei, S. L. Xie, H. T. Liu*, J. W. Zang, Hysteresis modelling and compensation of pneumatic artificial muscles using the generalized Prandtl-Ishlinskii model, J Mech. Eng., 63(11): 657-665, 2017. (SCI) [49]H. T. Liu*, T. Huang, D. G. Chetwynd, A. Kecskeméthy, Stiffness modeling of parallel mechanisms at limb and joint/link levels, IEEE Trans. Robot., 33(3): 734-741, 2017. (SCI) [50]M. X. Wang, H. T. Liu*, T. Huang, An approach for the lightweight design of a 3-SPR parallel mechanism, ASME J. Mech. Robot., 9(5): 051016, 2017. (SCI) [51]H. T. Liu, T. Huang*, A. Kecskeméthy, D. G. Chetwynd, Q. Li, Force/motion transmissibility analyses of redundantly actuated and overconstrained parallel manipulators, Mech. Mach. Theory, 109: 126-138, 2017. (SCI) [52]X. Zhao, H. T. Liu*, H. Ding, L. Qian, An approach for computing the transmission index of full mobility planar multiloop mechanisms, ASME J. Mech. Robot., 9(4): 041017, 2017. (SCI) [53]H. T. Liu*, A. Kecskeméthy, D. H. Nguyen, H. Parzer, H. Gattringer, Determination of an unknown unactuated joint axis in a compliant serial kinematical chain using force control and the Krylov power iteration method, Mech. Mach. Theory, 117: 198-209, 2017. (SCI) [54]H. T. Liu, A. Kecskeméthy*, T. Huang, An automatic approach for identification of reciprocal screw systems of serial kinematic chains based on the invariance properties matrix, Mech. Mach. Theory, 107: 352-368, 2017. (SCI) [55]W. J. Tian, F. W. Yin, H. T. Liu*, J. H. Li, Q. Li, T. Huang, D. G. Chetwynd, Kinematic calibration of a 3-DOF spindle head using a double ball bar, Mech. Mach. Theory, 102: 167-178, 2016. (SCI) [56]H. T. Liu, M. X. Wang, T. Huang*, D. G. Chetwynd, A. Kecskeméthy, A dual space approach for force/motion transmissibility analysis of lower mobility parallel manipulators, ASME J. Mech. Robot., 7(3): 034504, 2015. (SCI) [57]H. T. Liu, T. Huang*, A. Kecskeméthy, D. G. Chetwynd, A generalized approach for computing the transmission index of parallel mechanisms, Mech. Mach. Theory, 74: 245-256, 2014. (SCI) [58]H. T. Liu, T. Huang*, D. G. Chetwynd, A general approach for geometric error modeling of lower mobility parallel manipulators, J. Mech. Robot., 3(2): 021013, 2011. (SCI) [59]H. T. Liu, T. Huang*, D. G. Chetwynd, A method to formulate a dimensionally homogeneous Jacobian of parallel manipulators, IEEE Trans. Robot., 27(1): 150-156, 2011. (SCI) [60]H. T. Liu, T. Huang*, D. G. Chetwynd, An approach for acceleration analysis of lower mobility parallel manipulators, J. Mech. Robot., 3(1): 011013, 2011. (SCI) [61]H. T. Liu, J. P. Mei, X. M. Zhao, T. Huang*, D. G. Chetwynd, Inverse dynamics and servomotor parameter estimation of a 2-DOF spherical parallel mechanism, Sci. China Ser. E-Technol. Sci., 51(3): 288-301, 2008. (SCI) [62]H. T. Liu, T. Huang*, J. P. Mei, X. M. Zhao, D.G. Chetwynd, M. Li, S. J. Hu, Kinematic design of a 5-DOF hybrid robot with large workspace/limb-stroke ratio, ASME J. Mech. Des., 129(5): 530-537, 2007. (SCI) [63]H. T. Liu, T. Huang*, X. Zhao, J. Mei, D. G. Chetwynd, Optimal design of the TriVariant robot to achieve a nearly axial symmetry of kinematic performance, Mech. Mach. Theory, 42(12): 1643-1652, 2007. (SCI) [64]刘海涛*，黄玉庚，肖聚亮，岳巍，一种基于加权运动平均的多视角点云鲁棒配准方法, 天津大学学报: 自然科学与工程技术版, 12: 690-701, 2022. [65]董成林, 李锦涛, 刘海涛*, TriMule与Exechon机器人的切向运动传递特性同性条件及运动学性能分析, 机械工程学报, 57(15): 23-32, 2021. [66]董成林, 刘海涛*, 杨俊豪, 一种新型非对称五自由度混联机器人的尺度综合, 中国机械工程, 32(20): 2418-2426, 2021. [67]王仙业, 刘海涛*, 黄田, 一种平面闭链腿式机构的尺度参数优化设计, 中国机械工程, 33(11): 1261-1268, 2022. [68]董成林, 岳巍, 刘海涛*, 黄田, 肖聚亮, TriMule与Tricept机器人刚度解析与比对, 机械工程学报, 57(19): 30-38, 2021. 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