【概况】

王福军，天津大学机械工程学院机械工程系教授，博士生导师，硕士生导师，天津市微纳操作与制造技术中欧联合研究中心主任，国家重点研发计划项目首席科学家，入选爱思唯尔中国高被引学者和全球前2%顶尖科学家。2010年获得天津大学机械工程学院机械设计制造及其自动化专业博士学位。2013年12月-2014年12月美国伊利诺伊大学厄巴纳-香槟分校访问学者。主要研究方向包括精密智能操作机器人，精密制造装备与智能制造，机电系统动力学与控制，柔性驱动器与机器人，柔顺机构，精密定位、测试与制造技术等。讲授课程包括测试与控制技术基础1（控制工程基础）、设计与建造III、工程图学基础3、微纳米机器人基础与技术等。主持/参与国家重点研发计划国际科技合作重点专项、国家重点研发计划智能机器人专项课题、国家重点研发计划增材制造与激光制造专项、国家自然科学基金联合基金重点支持项目、国家自然科学基金面上项目和青年项目等多项科研课题。作为第一/通讯作者，在本领域高水平学术期刊IEEE/ASME Transactions on Mechatronics、IEEE Transactions on Industrial Electronics、Mechanism and Machine Theory、Robotics and Computer-Integrated Manufacturing等发表论文50余篇，授权国家发明专利24项，并受邀在IEEE 3M-NANO和ICHSHM国际会议做大会主题报告。

【教育背景】

2007年3月 至 2010年3月 天津大学机械系机械制造及其自动化专业(博士) 2005年9月 至 2007年3月 天津大学机械系机械制造及其自动化专业(硕士) 2001年9月 至 2005年7月 河北工业大学机械系机械设计制造及其自动化专业(学士)

【学术经历】

2021年6月 至 今 天津大学机械工程学院机械系 教授 2018年6月 至 2021年6月 天津大学机械工程学院机械系 特聘研究员 2015年6月 至 2018年6月 天津大学机械工程学院机械系 副教授 2010年6月 至 2015年6月 天津大学机械工程学院机械系 讲师 2013年12月 至 2014年12月 美国伊利诺伊大学厄巴纳-香槟分校机械科学与工程系 访问学者 2011年2月 至 2011年2月，香港科技大学，交流访问

【讲授课程】

测试与控制技术基础1（控制工程基础） 2． 设计与建造III 3． 微纳米机器人基础与技术 4． 工程图学基础3

【教学成果】

2024年指导学生获中国大学生机械工程创新创意大赛“遨博杯”智能精密装配赛二等奖 2023年获天津大学第三届新工科项目式课程设计大赛一等奖 2020年指导学生获挑战杯天津大学课外学术科技作品竞赛一等奖 2018年完成教育部高教司产学合作协同育人教改项目1项 2018年指导学生获天津市知识产权发明与设计大赛高校赛一等奖 2016年获天津大学机械工程学院青年教师讲课大赛二等奖 2015年获天津大学本科毕业设计优秀指导教师

【研究方向】

精密智能操作机器人 2． 精密制造装备与智能制造 3． 机电系统动力学与控制 4． 柔性驱动器与机器人，柔顺机构 5． 精密定位、测试与制造技术

【学术兼职】

天津市自动化技术应用研究会会员 天津市国际科技合作协会会员 《中国大百科全书-机械工程卷》机电一体化撰写组成员 Nanomanufacturing and Metrology期刊青年编委 Sensors期刊特邀编委 国际期刊 Nature Communications、IEEE/ASME Transactions on Mechatronics、IEEE Transactions on Industrial Electronics、Mechanism and Machine Theory等的评审人

【科研项目及成果】

负责/参与的科研项目： 1．2024-2027 宏行程高速纳米精度压电粘滑平台设计与控制方法研究，国家自然科学基金联合基金重点支持项目，251万，任务负责 2. 2023-2026 面向生物和工程领域应用的激光干涉光刻微纳结构4D打印，国家重点研发计划国际科技合作重点专项，300万，项目负责 3. 2022-2025 L4DNANO，欧盟地平线欧洲国际交流合作项目，300万，任务负责 4．2019-2022 复杂微器件高精度柔性检测装配一体化机器人系统（宏-微结合高精度装配机器人研发），国家重点研发计划智能机器人专项，264万，课题负责 5. 2019-2021 天津大学微纳操作与制造技术中欧联合研究中心建设，天津市科学技术局天津市创新平台项目，50万，项目负责 6. 2018-2021 天津大学微纳加工与测试技术中英联合研究中心建设，天津市科学技术局天津市创新平台项目，50万，任务负责 7. 2017-2021 复杂微细结构的激光加工与测量技术及装备（激光加工与检测装备研究），国家重点研发计划增材制造与激光制造专项，105万，任务负责 8. 2017-2020 Micro/Nano Robotics for Single Cancer Cells，欧盟地平线国际交流合作项目，任务负责 9. 2017-2020 柔性器件主动可控超声微转印关键基础问题研究，国家自然科学基金项目，62万，项目负责 10. 2017-2020 超声辅助纳米加工系统及其关键技术研究，国家自然科学基金项目，63万，参与 11. 2016-2019 Design and Fabrication of Functional Surfaces with Controllable Wettability, Adhesion and Reflectivity，欧盟地平线国际交流合作项目，任务负责 12．2016-2019 润湿、粘附、反射 可控功能表面设计与制造，国家重点研发计划国际科技合作重点专项，110万，任务负责 13．2015-2017 数控机床误差测量、分析与补偿技术，高档数控机床与基础制造装备国家科技重大专项，3790万，参与 14. 2015-2017 基于柔性聚合物薄膜的微结构/器件超声压焊技术研究，国家自然科学基金项目，25万，参与 15. 2014-2017 生物医疗机器人及其应用，欧盟第七框架项目，参与 16. 2014-2016 重型机床可靠性评价与试验方法研究，高档数控机床与基础制造装备国家科技重大专项，70万，参与 17. 2013-2016 三维可控探针纳米加工系统及其关键技术，国家自然科学基金项目，85万，参与 18. 2013-2016 射频识别芯片热超声键合质量监测相关基础问题研究，天津市自然科学基金项目，项目负责 19. 2013-2015 音圈电机直驱的柔性解耦定位系统动力学特性与控制方法，国家自然科学基金项目，25万，项目负责 20． 2012-2015 箱体类精密工作母机共性前沿技术平台，863计划重大项目，参与 21． 2010-2013 高速精密IC芯片键合机设计理论与样机建造，天津市科技支撑计划重点项目，参与

【代表性论著】

Zhao X., Wang F.*, Tao C., Shi B., Huo Z., Tian Y. Development of a novel retinal surgery robot based on spatial variable RCM mechanism. Journal of Mechanisms and Robotics-Transactions of the ASME, 2025, 17(3): 031002. 2. Zhao X., Wang F.*, Tao C., Liu H., Liang C., Shi B. Modeling and experimental studies on vibration-induced force reduction during needle insertion of thin tissues. Journal of Medical Devices-Transactions of the ASME, 2025. Doi: 10.1115/1.4067070. 3. Wang F.，Dai J.，Liu H.，Shi B.，Liang C.，Tian Y., Critical energy evaluation and control method for single-step motion characteristics of piezoelectric stick-slip actuators, Mechanical Systems and Signal Processing, 2025, Doi:10.1016/j.ymssp.2025.112353. 4. Zhao X., Wang F.*, Shi B., Tian Y., Zhang D. A piezo-actuated nanopositioning stage based on spatial parasitic motion principle. Sensors and Actuators: A. Physical, 2024, 368: 115124. 5. Shi B., Wang F.*, Han C., Huo Z., Tian Y. Design of a precise positioning stage actuated by a double-layer stick-slip actuator used for precise assembly. Mechanism and Machine Theory, 2023, 185: 105336. 6. Wang F.*, Zhao X., Guo H., Tian Y., Zhang D. Design, modeling and experiment of a novel ultrasonic elliptical vibration generator. Sensors and Actuators: A-Physical, 2023, 363: 114707. 7 Wang F.*, Shi B., Huo Z., Tian Y., Zhang D. Design and control of a spatial micromanipulator inspired by deployable structure, IEEE Transactions on Industrial Electronics, 2022, 69(1): 971-979. 8 Shi B.，Wang F.*，Huo Z.，Tian Y.，Zhao X., Zhang D. Design of a rhombus-type stick-slip actuator with two driving modes for micropositioning, Mechanical Systems and Signal Processing, 2022, 166: 108421. 9 Huo Z., Tian Y., Wang F.*, Zhang W., Shi B., Zhang D. A dual-driven high precision rotary platform based on stick-slip principle, IEEE/ASME Transactions on Mechatronics, 2022, 27(5): 3053-3064. 10 Wang F.*, Zhao X., Huo Z., Shi B., Tian Y., Zhang D. A novel large stepping-stroke actuator based on the bridge-type mechanism with asymmetric stiffness, Mechanical Systems and Signal Processing, 2022, 179, 109317. 11 Wang F.*, Chen Y., Wang Y., Liu Z., Tian Y., Zhang D. A soft pneumatic glove with multiple rehabilitation postures and assisted grasping modes, Sensors and Actuators A: Physical, 2022, 347, 1: 113978. 12. Wang F.*, Zhao X., Huo Z., Shi B., Liang C., Tian Y., Zhang D. A 2-DOF nano-positioning scanner with novel compound decoupling-guiding mechanism, Mechanism and Machine Theory, 2021, 155: 104066. 13. Wang F.*, Shi B., Huo Z., Tian Y., Zhang D. Control and dynamic releasing method of a piezoelectric actuated microgripper, Precision Engineering, 2021, 68, 1-9. 14. Liu S., Wang F*, Liu Z, Zhang W., Tian Y., Zhang D. A two-finger soft-robotic gripper with enveloping and pinching grasping modes, IEEE/ASME Transactions on Mechatronics, 2021, 26(1): 146-155. 15. Liang C., Wang F.*, Huo Z., Shi B., Tian Y., Zhao X., Zhang D. Adhesion performance study of a novel microstructured stamp for micro-transfer printing, Soft Matter, 2021, 17(19): 4989-4997. 16. Liu Z., Wang F.*, Liu S., Tian Y., Zhang D. Modeling and analysis of soft pneumatic network bending actuators, IEEE/ASME Transactions on Mechatronics, 2021, 26(4): 2195-2203. 17. Tian Y., Huo Z., Wang F.*, Shi B. Precision tracking of a 2-DOF stick-slip positioner using modeling-free inversion-based iterative control and modified inverse hysteresis compensator, Sensors and Actuators A: Physical, 2021, 331(1): 112959. 18. Liang C., Wang F.*, Huo Z., Shi B., Tian Y., Zhao X., Zhang D. A 2-DOF monolithic compliant rotation platform driven by piezoelectric actuators, IEEE Transactions on Industrial Electronics, 2020, 67(8): 6963-6974. 19. Tian Y., Lu K., Wang F.*, Zhou C., Ma Y., Jing X., Yang C., Zhang D. A spatial deployable three-DOF compliant nano-positioner with a three-stage motion amplification mechanism, IEEE/ASME Transactions on Mechatronics, 2020, 25(3): 1322-1334. 20. Liang C., Wang F.*, Huo Z., Shi B., Tian Y., Zhao X., Zhang D. Pull-off force modeling and experimental study of PDMS stamp considering preload in micro transfer printing, International Journal of Solids and Structures, 2020, 193: 134-140. 21. Tian Y., Zhou C., Wang F.*, Lu K., Zhang D. A novel compliant mechanism based system to calibrate spring constant of AFM cantilevers, Sensors and Actuators A Physical, 2020, 309: 112027 22. Tian Y., Ma Y., Wang F.*, Lu K., Zhang D. A novel XYZ micro/nano positioner with an amplifier based on L-shape levers and half-bridge structure, Sensors and Actuators A Physical, 2020, 302： 111777. 23. Wang F.*, Shi B., Tian Y., Huo Z., Zhao X., Zhang D. Design of a novel dual-axis micromanipulator with an asymmetric compliant structure, IEEE/ASME Transactions on Mechatronics, 2019, 24(2): 656-665. 24. Wang F.*, Huo Z.*, Liang C., Shi B., Tian Y., Zhao X., Zhang D. A novel actuator-internal micro/nano positioning stage with an arch-shape bridge-type amplifier, IEEE Transactions on Industrial Electronics, 2019, 66(12): 9161-9172. 25. Tian Y., Zhou C., Wang F.*, Lu K., Yuan Y., Yang M, Zhang D. Design of a flexure-based mechanism possessing low stiffness and constant force, Review of Scientific Instruments, 2019, 90: 105005 26. Tian Y., Yang M., Wang F.*, Zhou C., Zhao X., Zhang D. A unified element stiffness matrix model for variable cross-section flexure hinges in compliant mechanisms for micro/nano positioning, Microsystem Technologies, 2019, 25: 4257-4268. 27. Liang C., Wang F.*, Shi B, Huo Z., Zhou K., Tian Y., Zhang D. Design and control of a novel asymmetrical piezoelectric actuated microgripper for micromanipulation, Sensors and Actuators: A-Physical, 2018, 269(1): 227-237. 28. Liang C., Wang F.*, Yang Q., Tian Y., Zhao X., Zhang D. Design and characteristic analysis of an aerostatic decoupling table for microelectronic packaging, PIMechE, Part C, Journal of Mechanical Engineering Science, 2018, 232(6): 1079-1090. 29. Tian Y., Zhou C., Wang F.*, Zhang J., Guo Z., Zhang D. A novel method and system for calibrating the spring constant of atomic force microscope cantilever based on electromagnetic actuation, Review of Scientific Instruments, 2018, 89: 125119. 1-10. 30. Liang C., Wang F.*, Tian Y., Zhao X., Zhang D. Development of a high speed and precision wire clamp with both position and force regulations, Robotics and Computer-Integrated Manufacturing, 2017, 44: 208-217. 31. Liang C., Wang F.*, Tian Y., Zhao X., Zhang D. Grasping force hysteresis compensation of a piezoelectric-actuated wire clamp with a modified inverse Prandtl-Ishlinskii model, Review of Scientific Instruments, 2017, 88 (11): 115101. 32. Tian Y., Liu Y., Wang F.*, Jing X., Zhang D., Liu X. Modeling and analyses of helical milling process, International Journal of Advanced Manufacturing Technology, 2017, 90: 1003-1022. 33. Wang F.*, Zhang H., Liang C., Tian Y., Zhao X., Zhang D. Design of high frequency ultrasonic transducers with flexure decoupling flanges for thermosonic bonding, IEEE Transactions on Industrial Electronics, 2016, 63(4): 2304-2312. 34. Wang F.*, Liang C., Tian Y., Zhao X., Zhang D. Design and control of a compliant microgripper with a large amplification ratio for high-speed micro manipulation, IEEE/ASME Transactions on Mechatronics, 2016, 21(3): 1262-1271. 35. Wang F.*, Liang C., Tian Y., Zhao X., Zhang D. A flexure-based kinematically decoupled micropositioning stage with a centimeter range dedicated to micro/nano manufacturing, IEEE/ASME Transactions on Mechatronics, 2016, 21(2): 1055-1062. 36. Wang F.*, Liang C., Tian Y., Zhao X., Zhang D. Design of a piezoelectric-actuated microgripper with a three-stage flexure-based amplification, IEEE/ASME Transactions on Mechatronics, 2015, 20(5): 2205-2213. 37. Wang F., Ma Z., Gao W.*, Zhao X., Tian Y., Zhang D., Liang C. Dynamic modeling and control of a novel XY positioning stage for semiconductor packaging, Transactions of the Institute of Measurement and Control, 2015, 37(2): 177-189. 38. Liang C., Wang F.*, Tian Y., Zhao X., Zhang H., Cui L., Zhang D., Ferreira P. A novel monolithic piezoelectric actuated flexure-mechanism based wire clamp for microelectronic device packaging, Review of Scientific Instruments, 2015, 86(4): 045106. 39. Zhang H*., Wang F.*, Zhang D., Wang L., Hou Y., Xi T. A new automatic resonance frequency tracking method for piezoelectric ultrasonic transducers used in thermosonic bonding, Sensors and Actuators: A-Physical, 2015, 235: 140-150. 40. Wang F.*, Li J., Liu S., Zhao X., Zhang D., Tian Y. An improved adaptive genetic algorithm for image segmentation and vision alignment used in microelectronic bonding, IEEE/ASME Transactions on Mechatronics, 2014, 19(3): 916-923. 41. Zhang H., Wang F.*, Zhao X, Zhang D., Tian Y. Electrical matching of a piezoelectric ultrasonic transducer for microelectronic bonding, Sensors and Actuators A: Physical, 2013, 199(1): 241-249. 42. Wang F.*, Zhao X., Zhang D., Ma Z., Jing X. Robust and precision control for a directly driven XY table, Proceedings of IMechE, Part C, Journal of Mechanical Engineering Science, 2011, 225(5), 1107-1120. 43. Wang F.*, Zhao X., Zhang D., Wu Y. Design and control of a directly-driven bond head for thermionic bonding, Proceedings of IMechE, Part C, Journal of Mechanical Engineering Science, 2010, 224(4): 805-815. 44. Wang F.*, Zhao X., Zhang D., Wu Y., Shirinzadeh B., Tian Y. Design and control of a high-acceleration precision positioning system with a novel flexible decoupling mechanism, Proceedings of IMechE, Part C, Journal of Mechanical Engineering Science, 2010, 224(2): 431-442. 45. Wang F.*, Zhao X., Zhang D., Wu Y. Development of novel ultrasonic transducers for microelectronics packaging, Journal of Materials Processing Technology, 2009, 209(3): 1291-1301.