一、科研项目: (1)国家自然科学基金青年项目“基于双混联机器人的薄壁件镜像铣削系统动态参数匹配与智能学习方法研究”,52205029,30万元,主持,2023.1-2025.12,在研。 (2)技术创新引导专项(基金)企业科技特派员项目“面向大型结构件智能制造的新型加工机器人数控技术研发与应用”,22YDTPJC00410,5万元,主持,2022.10-2023.9,在研。 (3)横向课题“芯型带状材料自动化智能卷绕系统开发”,103万元,主持,2022.6-2023.1,在研。 (4)国家重点基础研究发展计划“新一代超大型运载火箭薄壁结构制造的科学问题”子课题,2014CB046603,235万元,参与,结题。 (5)国家自然科学基金重大国际(地区)合作交流项目“航空叠层构件柔性制孔工艺装备技术基础”,350万元,参与,结题。 二、代表性论著:近期代表作,限10篇(部) [1]Qi Liu, Wenjie Tian, Bin Li, Yue Ma*. Kinematics of a 5-axis hybrid robot near singular configurations [J], Robotics and Computer-Integrated Manufacturing, 2022, 75: 102294. (SCI) [2]Qi Liu, Hao Guo, Yue Ma, Wenjie Tian, Zhitao Zhang, Bin Li*. Real-time error compensation of a 5-axis machining robot using externally mounted encoder systems [J]. The International Journal of Advanced Manufacturing Technology, 2022. (SCI) [3]Qi Liu, Tian Huang*. Inverse kinematics of a 5-axis hybrid robot with non-singular tool path generation [J], Robotics and Computer-Integrated Manufacturing, 2019, 56: 140-148. (SCI) [4]Qi Liu, Juliang Xiao, Xu Yang, Haitao Liu, Tian Huang*, Derek G. Chetwynd. An iterative tuning approach for feedforward control of parallel manipulators by considering joint couplings [J], Mechanism and Machine Theory, 2019, 140: 159-169. (SCI) [5]Yue Ma,Qi Liu, Mian Zhang, Bin Li*, Zhenzhong Liu. An approach for mobility and force/motion transmissibility analysis of parallel mechanisms based on screw theory and CAD technology, Advances in Mechanical Engineering, 2021, 13(10): 1–22. (SCI) [6]Xu Yang, Haitao Liu, Juliang Xiao*, Wule Zhu,Qi Liu, Guofang Gong, Tian Huang. Continuous friction feedforward sliding mode controller for a TriMule hybrid robot, IEEE/ASME Transactions on Mechatronics, 2018, 23(4):1673-1683. (SCI) [7]Yue Ma, Haitao Liu, Mian Zhang, Bin Li,Qi Liu*, Chenglin Dong,Elasto-dynamic performance evaluation of a 6-DOF hybrid polishing robot based on kinematic modeling and CAE technology,Mechanism and Machine Theory,2022,176,104983. (SCI) [8]Chenlin Dong, Haitao Liu*,Qi Liu, Tao Sun, Tian Huang, Derek G. Chetwynd. An approach for type synthesis of overconstrained 1T2R parallel mechanisms [C]. In: Proceedings of the 7th International Workshop on Computational Kinematics, Poitiers, France, May, 2018, 50: 274-281. (EI) 三、授权专利: [1]黄田,刘祺,肖聚亮等.一种针对机器人的耦合前馈控制方法[P].国家发明专利,专利号: ZL 201810726741.6,授权日期: 2021.10.19 [2]黄田,刘祺,刘海涛等.一种前馈控制器参数的自动整定方法[P].国家发明专利,专利号: ZL 201810793174.6,授权日期: 2021.04.20 [3]黄田,刘祺,郭浩等.一种五自由度混联机器人的模糊自适应控制方法[P].国家发明专利,专利号: ZL 201710636650.9,授权日期: 2020.06.19. [4]黄田,刘祺,董成林等.一种五自由度混联机器人的双闭环控制方法[P].国家发明专利,专利号: ZL 201610465824.5,授权日期: 2017.11.28. [5]黄田,郭浩,刘祺等.一种五自由度混联机器人控制器参数自适应调整实现方法[P].国家发明专利,专利号: ZL 201710864282.3,授权日期: 2020.06.19. [6]黄田,董成林,刘祺,汪满新.一种可实现重力自平衡的高刚度混联机器人[P].国家发明专利,专利号: ZL 201410848748.7,授权日期: 2016.09.28. [7]黄田,董成林,刘海涛,秦旭达,梅江平,刘祺,汪满新.一种含多轴转动支架的五自由度混联机器人[P]:中国, ZL 201510401279.9,授权日期: 2017.01.11. [8]黄田,董成林,刘海涛,林彬,汪满新,杨朔飞,刘祺.一种具有三对称运动学性能的过约束高刚度机器人[P].国家发明专利,专利号: ZL 201510506108.2,授权日期: 2017. 03.01. 四、荣誉奖励: 2020.9-2022.9教育部国家大学生创新创业计划项目“新型四自由度高速并联机器人的设计与控制技术研究”,202010060010,国家级,第一指导教师,优秀结题。 |