1. 并联机器人
   
2. 移动式机器人
3. 空间机构设计与分析
4. 微纳米操作
5. 柔性机构的设计与分析

   

080202-机械电子工程
080201-机械制造及其自动化
081101-控制理论与控制工程

机器人与自动化
微纳米操作;智能控制
多体系统动力学

1991-02--1994-02   天津大学   博士
1985-09--1988-06   吉林大学   硕士
1981-09--1985-08   吉林大学   学士

   

2016-12~现在, 香港理工大学, 教授
2007-09~2016-11,澳门大学, 教授
2001-09~2007-08,澳门大学, 副教授
1997-09~2001-08,澳门大学, 助理教授
1997-02~1997-08,普度大学, 博士后
1996-12~1997-01,辛辛那提大学, 访问学者
1996-05~1996-11,联合国大学软件研究所, 研究员
1994-03~1996-04,华南理工大学, 讲师

2010-12-22-2010-12-23,中国科技部, 海外评审专家
2010-03-01-今,IEEE SMC in Nano Technology Council, Representative
2004-01-01-今,IEEE, Senior member

控制与自动化
自动化前沿技术专题

   

（1） 辽宁省自然科学成果奖, , 省级, 2011

（ 1 ） Decoupled 3-DOF Micropositioning Stage with Large Stroke, 发明, 2016, 第 1 作者, 专利号: CN103486413B

   

（1） Novel optimization approach in ultrasonic machining: unilateral compensation for resonant vibration in primary side, IEEE Access, 2019, 第 5 作者
（2） Multi-objective Dimensional Optimization of a 3-DOF Translational PKM Considering Transmission Properties, International Journal of Automation and Computing, 2019, 第 2 作者
（3） Kinematic analysis of deployable parallel mechanisms, Proceedings of the Institution of Mechanical Engineers Part C - Journal of Mechanical Engineering Science, 2019, 通讯作者
（4） A generalized input-output-based digital sliding-mode control for piezoelectric actuators with non-minimum phase property, International Journal of Control, Automation and Systems, 2019, 通讯作者
（5） Discrete-time sliding-mode control with enhanced power reaching law, IEEE Transactions on Industrial Electronics, 2019, 第 2 作者
（6） A novel dead zone reaching law of discrete-time sliding mode control with disturbance compensation, IEEE Transactions on Industrial Electronics, 2019, 通讯作者
（7） Motion Generators of Quadric Surfaces, Mechanism and Machine Theory, 2019, 通讯作者
（8） Multi-power reaching law based discrete-time sliding-mode control, IEEE Access, 2019, 通讯作者
（9） A generalized input-output-based digital sliding-mode control for piezoelectric actuators with non-minimum phase property, International Journal of Control, Automation and Systems, 2019, 通讯作者
（10） Electromechanical dynamics model of ultrasonic transducer in ultrasonic machining based on equivalent circuit approach, Sensors, 2019, 第 5 作者
（11） Design and dynamic modeling of variable stiffness joint actuator based on Archimedes spiral, IEEE Access, 2018, 第 3 作者
（12） External force estimation of a piezo-actuated compliant mechanism based on a fractional order hysteresis model, Mechanical Systems and Signal Processing, 2018, 第 3 作者
（13） Design and analysis of a flexure-based modular precision positioning stage with two different materials, Multidiscipline Modeling in Materials and Structures, 2018, 第 2 作者
（14） Optimum design of a piezo-actuated tri-axial compliant mechanism for nano-cutting, IEEE Transactions on Industrial Electronics, 2018, 第 4 作者
（15） Design and optimization of full decoupled micro/nano-positioning stage based on mathematical calculation, Mechanical Sciences, 2018, 第 2 作者
（16） Nonlinear dynamic modeling and hybrid control design with dynamic compensator for a small-scale UAV quadrotor, Measurement, 2017, 第 3 作者
（17） Fast dynamic hysteresis modeling using a regularized on-line sequential extreme learning machine with forgetting property, The International Journal of Advanced Manufacturing Technology, 2017, 第 7 作者
（18） Design and analysis of a 3-DOF planar micromanipulation stage with large rotational displacement for micromanipulation system, Mechanical Sciences, 2017, 通讯作者
（19） Design and implementation of a variable stiffness actuator based on flexible gear rack mechanism, Robotica, 2017, 第 3 作者
（20） Configuration Analysis and Design of a Multidimensional Tele-operator Based on a 3-P(4S) Parallel Mechanism, Journal of Intelligent and Robotic Systems, 2017, 第 2 作者
（21） Attitude control for astronaut assisted robot in the space station, International Journal of Control, Automation and Systems, 2016, 通讯作者
（22） A memetic algorithm for global optimization of multimodal nonseparable problems, IEEE Transactions on Cybernetics, 2016, 通讯作者
（23） Design of variable stiffness actuator based on modified gear–rack mechanism, Journal of Mechanisms and Robotics, Transactions of ASME, 2016, 第 3 作者
（24） Kinematics Analysis of a Novel Over-constrained Three Degree-of-Freedom Spatial Parallel Manipulator, Mechanism and Machine Theory, 2016, 通讯作者
（25） H-infinity Synchronization of Coupled Reaction-Diffusion Neural Networks with Mixed Delays, Complexity, 2016, 第 2 作者
（26） Design, analysis and simulation of a novel 3-dof translational micromanipulator based on the PRB model, Mechanism and Machine Theory, 2016, 第 1 作者
（27） Development of an electromagnetic actuated micro-displacement module, IEEE Transactions on Mechatronics, 2016, 通讯作者
（28） Smooth trajectory planning for a parallel manipulator with joint friction and jerk constraints, International Journal of Control Automation and Systems, 2016, 通讯作者
（29） Noise tolerance leader-following of high-order nonlinear dynamical multi-agent systems with switching topology and communication delay, Journal of the Franklin Institute: Engineering and Applied Mathematics, 2016, 通讯作者
（30） Feedforward nonlinear PID control of a flexible nanomanipulator using preisach hysteresis compensator, Robotics and Computer-Integrated Manufacturing, 2015, 通讯作者
（31） Dual-layer fuzzy control architecture for the CAS rover arm, International Journal of Control Automation and Systems, 2015, 通讯作者
（32） A new flexure-based yθ nanomanipulator with nanometer scale positioning resolution and millimeter range workspace, IEEE Transactions on Mechatronics, 2015, 通讯作者
（33） Development and active disturbance rejection control of a compliant micro/nano-positioning piezo-Stage with dua-mode, IEEE Transactions on Industrial Electronics, 2014, 通讯作者
（34） Visual servo feedback control of a novel large working range micro manipulation system for micro-assembly, IEEE/ASME Journal of Microelectromechanical Systems, 2014, 通讯作者
（35） Dynamics and control of a parallel mechanism for active vibration isolation in space station, Nonlinear Dynamics, 2014, 通讯作者
（36） Dynamic compensation and H_infty control for piezoelectric actuators based on inverse Bouc-Wen model, Robotics and Computer-Integrated Manufacturer, 2014, 通讯作者
（37） Design, modeling, control and experiment for a 2-DOF compliant micro-motion stage, International Journal of Precision Engineering and Manufacturing, 2014, 通讯作者
（38） Development of a 3-DOF compliant parallel micromanipulator for active vibration isolation under low frequency, Journal of Vibration and Control, 2014, 通讯作者
（39） A novel analytical model for flexure-based proportion compliant mechanisms, Precision Engineering, 2014, 通讯作者
（40） Design, modeling and analysis of a novel micro-gripper based on flexure hinges, Advancs in Mechanical Engineering, 2014, 通讯作者
（41） Optimal design, fabrication and control of an XY micro-positioning stage driven by electromagnetic actuators, IEEE Transactions on Industrial Electronics , 2013, 通讯作者
（42） Adaptive nonlinear output-feedback dynamic surface control with unknown high frequency gain sign, International Journal of Control, 2013, 通讯作者
（43） Design and analysis of a novel 3-DOF large stroke micro-positioning platform, Chinese Journal of Mechanical Engineering, 2013, 第 1 作者
（44） Mobility analysis of a 3-PUU flexure-based manipulator based on screw theory and compliance matrix method, International Journal of Precision Engineering and Manufacturing, 2013, 通讯作者
（45） Distance measurement of zooming image for a mobile robot, International Journal of Control, Automation and Systems, 2013, 通讯作者
（46） Optimal design and control of a 2-DOF micromanipulator, International Journal of Advanced Robotic Systems, 2013, 通讯作者
（47） Modeling and high dynamic compensating the rate-dependent hysteresis of piezoelectric actuators via a novel modified inverse Preisach model, IEEE Transactions on Control Systems Technology, 2013, 通讯作者
（48） Design, analysis and test of a novel 2-DOF nanopositioning system driven by dual-mode , IEEE Transactions on Robotics, 2013, 通讯作者
（49） Micro/Nano-Positioning Using Model Predictive Output Integral Discrete Sliding Mode Control, IEEE Transactions on Industrial Electronics, vol. 59, no. 2, pp. 1161-1170, 2012, 通讯作者
（50） Modeling and Control Analysis of a 3-PUPU Dual Compliant Parallel Manipulator for Micro Positioning and Active Vibration Isolation, Journal of Dynamic System Measurement and Control, Transactions of ASME, vol.134, no.2, 021001, 2012, 通讯作者
（51） Inverse dynamics of a 3-PRC parallel kinematic machine, Nonlinear Dynamics, Vol.67, No.2, pp. 1031-1041, 2012, 第 1 作者
（52） Model Predictive Discrete-Time Sliding Mode Control of a Nanopositioning Piezostage Without Modeling Hysteresis, IEEE Transactions on Control Systems Technology, vol.20, no.4, pp. 983-994, 2012, 通讯作者
（53） Design and Analysis of a Dual-Mode Driven Parallel XY Micromanipulator for Micro/Nano Manipulations, Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, 2012, 通讯作者
（54） A Compliant Parallel XY Micro-motion Stage with Complete Kinematic Decoupling, IEEE Transactions on Automation Science and Engineering, 2012, 第 1 作者
（55） Optimal Design, Fabrication and Control of an XY Micro-positioning Stage Driven by Electromagnetic Actuators, IEEE Transactions on Industrial Electronics, 2012, 通讯作者
（56） Modeling and high dynamic compensating the rate-dependent hysteresis of the PZT via inverse Preisach model and RBF NN classifier method, IEEE Transactions on Control Systems Technology, 2012, 通讯作者
（57） Manipulation of a Mobile Modular Manipulator with the Assistance of Tactile Sensing Feedback, International Journal of Humanoid Robotics, Vol.8, No.4, pp.1-17, 2011, 第 2 作者
（58） Optimal Design of a 3-PUPU Parallel Robot with Compliant Hinges for Micromanipulation in a Cubic Workspace, Robotics and Computer Integrated Manufacturing, Vol.27, No.6, pp.977-985, 2011, 通讯作者
（59） Kinematics Modeling of a 3-PRC Parallel Kinematic Machine, UPB Scientific Bulletin, Series D: Mechanical Engineering, Vol. 12, No.2, pp.117-124, 2011, 第 1 作者
（60） A General Dynamics and Control Model of a Class of Multi-DOF Manipulators for Active Vibration Control, Mechanism and Machine Theory, Vol.46, No.10, pp.1549-1574, 2011, 第 2 作者
（61） A Novel Piezo Actuated XY Stage with Parallel, Decoupled and Stacked Flexure Structure for Micro/Nano Positioning, IEEE Transactions on Industrial Electronics, Vol. 58, No.8, pp.3601-3615, 2011, 第 1 作者
（62） A Totally Decoupled Piezo-Driven XYZ Flexure Parallel Micropositioning Stage for Micro/Nanomanipulation, IEEE Transactions on Automation Science and Engineering, Vol. 8, No.2, pp.265-279, 2011, 第 1 作者
（63） Tracking Control of a Redundant Manipulator with the Assistance of Tactile Sensing, Intelligent Automation and Soft Computing, Vol.17, No.7, pp. 833-845, 2011, 通讯作者
（64） Analytical Modeling, Optimization and Testing of a Compound Bridge-Type Compliant Displacement Amplifier, Mechanism and Machine Theory, Vol.46, No.2, pp. 183-200, 2011, 第 2 作者
（65） Inverse Kinematics and Control of a 7-DOF Redundant Manipulator, International Journal of Advanced Robotic Systems, Vol. 7, No.4, pp. 1-9, 2010, 通讯作者
（66） Enumeration of the non-isomorphic configurations for a reconfigurable modular robot with square-cubic-cell modules, Journal of Advanced Robotic Systems, Vol. 7, No.4, pp. 58-68, 2010, 第 4 作者
（67） Dahl Model-Based Hysteresis Compensation and Precise Positioning Control of an XY ParallelMicromanipulator with Piezoelectric Actuation, Journal of Dynamics, System, Measurement, and Control, Transactions of ASME, Vol.132, No.2, 041011, 2010, 通讯作者
（68） Tracking Performance Characterization and Improvement of a Piezoactuated Micropositioning System Based on an Empirical Index, Robotics and Computer Integrated Manufacturing, Vol. 26, No.6, pp.744-752, 2010, 通讯作者
（69） Design and analysis of a novel 6-DOF redundant actuated parallel robot with compliant hinges for high precision positioning, Nonlinear Dynamics, Vol.61, No.4, pp.829-845, 2010, 通讯作者
（70） Adaptive Sliding Mode Control with Perturbation Estimation and PID Sliding Surface for Motion Tracking of a Piezo-Driven Micromanipulator, IEEE Transactions on Control Systems Technology, Vol.18, No.4, pp.798-810, 2010, 第 1 作者
（71） Development and assessment of a novel decoupled XY parallel micropositioning platform, IEEE Transactions on Mechatronics, vol. 15, no. 1, pp. 125-135, 2010, 第 1 作者

   

（ 1 ） 应用于空间晶体生长科学实验装置的并联主动减振机构及控制方法研究, 主持, 国家级, 2012-01--2013-12
（ 2 ） 宏微并联机器人的主动振动控制, 主持, 省级, 2009-06--2012-06
（ 3 ） 基于视觉和触觉传感的带双驱动的多微操作手技术研究, 主持, 市地级, 2012-01--2014-12
（ 4 ） 小型无人直升机的设计与研制, 主持, 市地级, 2011-06--2014-12
（ 5 ） 面向片上细胞操作的双柔性微动平台设计及多维显微视觉与力混合协调控制, 主持, 省级, 2013-10--2016-09
（ 6 ） 高速并联机器人柔性机电系统建模理论与控制策略研究, 参与, 国家级, 2013-01--2016-12
（ 7 ） 基于超磁和压电混合驱动的六维微操作平台设计理论与动态迟滞非线性控制方法研究, 主持, 国家级, 2016-01--2019-12

（1）Model based sliding mode control for a 3-DOF translational micro parallel positioning stage   Shunli Xiao and Yangmin Li   2014-05-31
（2）Mobility and Kinematic Analysis of a Novel Dexterous Micro Gripper   Shunli Xiao and Yangmin Li   2012-05-14
（3）Modeling and Control of Rate-Dependent Hysteresis for a Piezo-Driven Micropositioning Stage   Qingsong Xu and Yangmin Li   2011-05-09

   

中科院沈阳自动化所

已指导学生

高庆  博士研究生  080202-机械电子工程  

刘云军  硕士研究生  080202-机械电子工程  

现指导学生

张晓波  博士研究生  080202-机械电子工程  

赵鹏远  博士研究生  080202-机械电子工程  

薛智慧  硕士研究生  080202-机械电子工程  

杨广宇  博士研究生  080202-机械电子工程