于靖军 Jingjun Yu

出生年月
1974年2月
籍贯
河北省卢龙县

职称
教授
学历
博士研究生

电话

办公室
新主楼A837

系别
机器人研究所
职务
本科教学副院长

电子信箱
jjyu@buaa.edu.cn
传真


个人主页

◆学习经历

1991.09-1995.07 燕山大学 机械设计制造及自动化 学士
1995.09-1998.06 燕山大学 机械设计及理论专业 硕士
1998.09-2002.06 北京航空航天大学 机械设计及理论 博士

◆工作经历

2002.07-2004.06 北京航空航天大学 博士后
2004.06-2005.08 北京航空航天大学机器人研究所 讲师
2005.10-2006.03 日本九州大学 访问
2009.02-2010.02 美国MIT先进制造与生产力实验室 访问
2014.08 –至今 北京航空航天大学机器人研究所 教授
2017.01-2017.02 英国赫瑞瓦特大学 高级访问

◆研究领域

柔性机构学与机器人
精密机械设计
运动几何学

◆荣誉及奖励

[1] 2018年，北京市青年教学名师.
[2] 2017年，宝钢教育基金优秀教师奖.
[3] 2017年，首届工业和信息化部研究型教学创新团队.（排名第2）
[4] 2017年，研究型课程的混合式教学模式研究与实践，北京市高等教育教学成果奖二等奖.（排名第2）
[5] 2016年，高精度柔性机构设计理论与方法，教育部高等学校自然科学奖，二等奖，2016.（排名第1）
[6] 2016年，机械原理，中国机械工业科学技术奖二等奖（科技图书类）.（排名第1）
[7] 2013年，空间柔性机构理论与应用基础问题研究，教育部高等学校自然科学奖，二等奖，（排名第3）
[8] 2013年，先进与经典相融合的机械工程类课程改革与实践，北京市高等教育教学成果奖二等奖.（排名第3）
[9] 作为副导师，指导博士生裴旭获2011年度全国优秀博士学位论文.
[10] 2012，2016，2019年，北京航空航天大学硕士学位论文优秀指导教师.
[11] 2019年，北京市优秀本科毕业设计论文指导教师.
[12] 2006年，北京市科技新星.

◆开授课程

机械原理（国家级在线精品开放课程，北京市精品课程，北京市优质课程），本科课程
机械原理及设计，本科课程
机器人技术基础，本科课程
有趣的机构发明，本科专业研讨课
机器人的现代数学基础（校级精品课），研究生课程
精密机械设计，研究生课程

◆教学及科研成果


教学方面，承担6门本科和研究生课程的教学工作，年授课在120学时以上。积极开展教育教学研究，坚持实施“研究型教学”理念。主编及参编教材5部，发表教学研究论文15篇，获北京市教学成果奖二等奖2项，主编的《机械原理》教材获中国机械工业科学技术奖和北京市优质教材。
科研方面，主持国家自然科学基金面上项目5项（含重点项目1项），国家重点研发计划项目课题1项。发表学术论文160余篇，其中SCI收录50余篇。获中国发明专利30余件。
n 教材、专著与译著
[1] 于靖军，毕树生，裴旭等著. 柔性设计：柔性机构的分析与综合，北京：高等教育出版社，2018.
[2] 于靖军，裴旭，宗光华著. 机械装置的图谱化创新设计，北京：科学出版社，2014.
[3] 于靖军主编. 机械原理，北京：机械工业出版社，2013.
[4] 郭卫东主编，于靖军，张云文等副主编. 机械原理实验教程，北京：科学出版社，2014.
[5] 于靖军，刘辛军，丁希仑编著. 机器人机构学的数学基础（第2版），北京：机械工业出版社，2016.
[6] 于靖军，刘辛军，丁希仑，戴建生编著. 机器人机构学的数学基础，北京：机械工业出版社，2008.
[7] 韩建友，杨通，于靖军. 高等机构学（第二版）, 北京：机械工业出版社, 2015.
[8] 于靖军，贾振中译. 现代机器人学：机构、规划与控制，北京：机械工业出版社，2019
[9] 于靖军，刘辛军译. 精密机械设计：运动学设计原理与实践，北京：机械工业出版社，2017
[10] 于靖军，周艳华，毕树生译. 并联机构构型综合，北京：机械工业出版社，2013
[11] 陈贵敏，于靖军，马洪波，邱丽芳译. 柔顺机构设计理论与实例图册，北京：高等教育出版社，2015
n 代表性科研论文
[1] K. Liu, X.W. Kong, J.J. Yu, Operation mode analysis of lower-mobility parallel mechanisms based on dual quaternions, Mechanism and Machine Theory, 2019, 142: 10357
[2] F.H. Meng, J.J. Yu, D. Alaluf, B. Mokrani, A. Preumont. Modal flexibility based damage detection for suspension bridge hangers: A numerical and experimental investigation, Smart Structures and Systems, 2019, 23(1): 15-29.
[3] W.S. Ma, Y.Q. Yang, and J.J. Yu. General routine of suppressing single vibration mode by multi-DOF tuned mass damper: Application of three-DOF, Mechanical Systems and Signal Processing, 2019, 121: 77-96.
[4] Y. Xie, X. Pei, and J.J. Yu. Double-layer sandwich annulus with ultra-low thermal expansion. Composite Structures, 2018, 203: 709-717.
[5] Y. Xie, J.J. Yu, H.Z. Zhao. Deterministic design for a compliant parallel universal joint with constant rotational stiffness, Journal of Mechanisms and Robotics, Transactions of the ASME, 2018, 10(5): 031006.
[6] X.B. He, J.J. Yu, G.B. Hao. Effect of degree-of-symmetry on kinetostatic characteristics of flexure mechanisms: a comparative case study, Chinese Journal of Mechanical Engineering, 2018, 31(1): 1-12.
[7] N. Ma, J.J. Yu, X. Dong, et al. Design and stiffness analysis of a class of 2-DoF tendon driven parallel kinematics mechanism, Mechanism and Machine Theory, 2018, 129: 202-217.
[8] Y. Wang, J.J. Yu, X. Pei. Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism, Frontiers of Mechanical Engineering, 2018, 13(3): 368-375.
[9] J.J. Yu, Z. Jin, X.W. Kong. Identification and comparison for continuous motion characteristics of three two-degree-of-freedom pointing mechanisms. Journal of Mechanism and Robotics, Transactions of the ASME, 2017, 9(5): 051015.
[10] J.J. Yu, K. Wu, G.H. Zong, X.W. Kong. A Comparative study on motion characteristics of three two-degree-of-freedom pointing mechanisms. Journal of Mechanism and Robotics, Transactions of the ASME, 2016, 8(2): 021027.
[11] J.J. Yu, D.F. Lu, G.B. Hao. Design and analysis of a 2-DOF compliant parallel pan-tilt platform, Meccanica, 2016, 51(7): 1559-1570.
[12] J.J. Yu, Special issue: Mechanisms and robotics, Frontiers of Mechanical Engineering, 2016, 11(2): 117-118.
[13] G.B. Hao, J.J. Yu. Design, modelling and analysis of a completely-decoupled XY compliant parallel manipulator. Mechanism and Machine Theory, 2016, 102: 179-195.
[14] G.B. Hao, J.J. Yu, H.Y. Li. A brief review on nonlinear modeling methods and applications of compliant mechanisms, Frontiers of Mechanical Engineering, 2016, 11(2): 119-128.
[15] G.B. Hao, H.Y. Li. S. Kemalcan, G.M. Chen, J.J. Yu. Understanding coupled factors that affect the modelling accuracy of typical planar compliant mechanisms, Frontiers of Mechanical Engineering, 2016, 11(2): 129-134.
[16] J.J. Yu, X. Yan, Z.G. Li, G.B. Hao. Design and experimental testing of an improved large-range decoupled XY compliant parallel micromanipulator, Journal of Mechanism and Robotics, Transactions of the ASME, 2015, 7(4): 044503.
[17] J.J. Yu, D.F. Lu, Z.X. Zhang, X. Pei. Motion capability analysis of a quadruped robot as a parallel manipulator, Frontiers of Mechanical Engineering, 2015, 9(4): 295-307.
[18] M. Jia, R.P. Jia, J.J. Yu. A Compliance-based parameterization approach for type synthesis of flexure mechanisms, Journal of Mechanism and Robotics, Transactions of the ASME, 2015, 7(3): 031014.
[19] X.W. Kong, J.J. Yu. Type synthesis of 2-DOF 3-4R parallel mechanisms with both spatial parallelogram translational mode and equal-diameter spherical rotation mode, Journal of Mechanism and Robotics, Transactions of the ASME, 2015, 7(4): 041018.
[20] X.W. Kong,J.J. Yu, D.L. Li. Reconfiguration analysis of a two degrees-of-freedom 3-4r parallel manipulator with planar base and platform, Journal of Mechanism and Robotics, Transactions of the ASME, 2015, 8(1): 011019.
[21] K. Wu, J.J. Yu, G.H. Zong, et al. A family of rotational parallel manipulators with equal-diameter spherical pure rotation, Journal of Mechanism and Robotics, Transactions of the ASME, 2014, 6(1): 011008.
[22] X. Pei, J.J. Yu, G.H. Zong, S.S. Bi. Design of compliant straight-line mechanisms using flexural joints, Chinese Journal of Mechanical engineering, 2014, 27(1): 146-153.
[23] S.Z. Li, J.J. Yu. Design principle of high-precision flexure mechanisms based on parasitic-motion compensation, Chinese Journal of Mechanical Engineering, 2014, 27(4): 663-672.
[24] J.J. Yu, S.Z. Li, C. Qiu.An analytical approach for synthesizing line actuation spaces of parallel flexure mechanisms,Journal of Mechanical Design, Transactions of the ASME, 2013, 135(6): 12450.
[25] J.J. Yu, X. Dong, X. Pei, X.W. Kong. Mobility and singularity analysis of a class of 2-DOF rotational parallel mechanisms using a visual graphic approach, Journal of Mechanism and Robotics, Transactions of the ASME,2012, 4(4): 041006.
[26] J.J. Yu, W. Li, X. Pei, S.S. Bi, G.H. Zong. A compound load simulator based on zero-torsion parallel mechanisms, Frontiers of Mechanical Engineering, 2012, 7(1): 92-95.
[27] X. Dong, J.J. Yu, B. Chen, G.H. Zong. Geometric approach for kinematic analysis of a class of 2-DOF rotational parallel manipulators, Chinese Journal of Mechanical engineering, 2012, 25(2): 241-247.
[28] X. Pei, J.J. Yu, G.H. Zong, S.S. Bi. A family of butterfly flexural joints: Q-LITF pivots, Journal of Mechanical Design, Transactions of the ASME, 2012, 134(12): 121005.
[29] S.Z. Li, J.J. Yu, G.H. Zong, H.J. Su. Conditions for realizable configurations in synthesis of constraint-based flexure mechanisms, Chinese Journal of Mechanical Engineering, 2012, 25(6): 1086-1095.
[30] H.Z. Zhao, S.S. Bi, J.J. Yu. A novel compliant linear-motion mechanism based on parasitic motion compensation, Mechanism and Machine Theory, 2012, 50: 15-28.
[31] H.Z. Zhao, S.S. Bi, J.J. Yu. Design of a family of ultra-precision linear motion mechanisms, Journal of Mechanism and Robotics, Transactions of the ASME, 2012, 4(4): 041012.
[32] H.J. Su, H.L. Shi, J.J. Yu.A symbolic formulation for analytical compliance analysis and synthesis of flexure mechanisms,Journal of Mechanical Design, Transactions of the ASME, 2012, 134(5): 051009.
[33] J.J. Yu, S.Z. Li, H.J. Su, M.L. Culpepper. Screw theory based methodology for the deterministic type synthesis of flexure mechanisms, Journal of Mechanism and Robotics, Transactions of the ASME,2011, 3(3): 031008.
[34] J.J. Yu, S.Z. Li, X. Pei, S.S. Bi, G.H. Zong. A unified approach to type synthesis of both rigid and flexure parallel mechanisms, Science in China Series E: Technological Sciences, 2011, 54(5): 1206-1219.
[35] X. Pei, J.J. Yu. A new large-displacement beam-based flexure joint, Mechanical Sciences, 2011, 2, 183–188.
[36] H.Z. Zhao, S.S. Bi, and J.J. Yu. Nonlinear deformation behavior of a beam-based flexural pivot with monolithic arrangement, Precision Engineering, 2011, 35(2): 369-382.
[37] X. Pei, J.J. Yu. A visual graphic approach for mobility analysis of parallel mechanisms, Frontiers of Mechanical Engineering, 2011, 6(1): 92-95.
[38] J.J. Yu, J.S. Dai, S.S. Bi, G.H. Zong. Type synthesis of a class of spatial lower-mobility parallel mechanisms with orthogonal arrangement based on lie group enumeration, Science in China Series E: Technological Sciences, 2010, 53(1): 388-404.
[39] X. Pei, J.J. Yu, G.H. Zong, S.S. Bi. An effective pseudo-rigid-body method for beam-based compliant mechanisms, Precision Engineering, 2010, 34(3): 634-639.
[40] J.J. Yu, J.S. Dai, T.S. Zhao, S.S. Bi, G.H. Zong. Mobility analysis of complex joints by means of screw theory, Robotica, 2009, 27: 915-927.
[41] X. Pei, J.J. Yu, G.H. Zong, S.S. Bi. The modeling of cartwheel flexural hinges, Mechanism and Machine Theory, 2009, 44(10): 1900-1909.
[42] X. Pei, J.J. Yu, G.H. Zong, S.S. Bi. A novel family of leaf-type compliant joints: combination of two isosceles-trapezoidal flexural pivots in series, Journal of Mechanism and Robotics, Transactions of the ASME, 2009, 5(1): 021005.
[43] S.S. Bi, H.Z. Zhao, J.J. Yu. Modeling of a cartwheel flexural pivot, Journal of Mechanical Design, Transactions of the ASME, 2009, 131(6): 061010.
[44] J.J. Yu, J.S. Dai, G.H. Zong, S.S. Bi. Numeration and type synthesis of 3-DOF orthogonal translational parallel manipulators, Progress in Natural Science, 2008, 18: 563-574.
[45] X. Pei, J.J. Yu, G.H. Zong, S.S. Bi, et al. Analysis of rotational precision for an isosceles-trapezoidal flexural pivot, Journal of Mechanical Design, Transactions of the ASME, 2008, 130(5): 052302.
[46] X. Pei, J.J. Yu, G.H. Zong, S.S. Bi. The modeling of leaf-type isosceles-trapezoidal flexural pivots, Journal of Mechanical Design, Transactions of the ASME,2008, 130(8): 082303.
[47] G.H. Zong, X. Pei, J.J. Yu, S.S. Bi. Classifications and type synthesis of one-DOF remote-center-of-motion mechanisms, Mechanism and Machine Theory. 2008, 44(12): 1585-1595.
[48] Z. Huang, Y.S. Zhao, J. Wang, J.J. Yu. Kinematic principle and geometrical condition of general-linear-complex special configuration of parallel manipulators. Mechanism and Machine Theory, 1999, 34(8): 1171-1186.
[49] 于靖军，谢岩，裴旭. 负泊松比超材料研究进展. 机械工程学报, 2018, 54(13): 1-14.
[50] 毕树生，刘畅，周晓东，于靖军. 可调刚度致动器结构研究综述. 机械工程学报, 2018, 54(13): 34-46.
[51] 刘辛军，于靖军，王国彪，赖一楠，何柏岩. 机器人研究进展与科学挑战，中国科学基金, 2016 (5): 425-431.
[52] 于靖军，陈贵敏，郝广波，毕树生. 柔性机构设计及应用研究进展, 机械工程学报, 2015, 51(13): 53-68.
[53] 陈斌，于靖军，宗光华，一类2-DOF n-4R并联转台的运动特性分析，机械工程学报，2014, 50(15): 19-27.
[54] 郭卫东，于靖军，一种计算平面机构自由度的新方法，机械工程学报，2013, 49(7)：125-129.
[55] 于靖军，裴旭，毕树生，宗光华等. 柔性铰链机构设计方法的研究进展, 机械工程学报, 2010 , 46(13): 2-13.
[56] 李守忠，于靖军，宗光华.基于旋量理论的并联柔性机构型综合与主自由度分析，机械工程学报, 2010, 46(13): 54-60.
[57] 于靖军，毕树生，宗光华等，全柔性机器人机构结构动力学分析方法研究，机械工程学报，2004, 40(8): 54-58.
[58] 于靖军，毕树生，宗光华，全柔性微位移放大机构的设计技术研究，航空学报，2004(1): 74-78.
[59] 于靖军，周强，毕树生，宗光华，基于动力学性能的全柔性机构优化设计，机械工程学报, 2003, 39(8): 32-36.
[60] 于靖军，毕树生，宗光华等，基于伪刚体模型法的全柔性机构位置分析，机械工程学报，2002, 38(2): 75-78.
[61] 于靖军，宗光华，毕树生，三自由度全柔性微机器人机构的静刚度分析，机械工程学报，2002, Vol.38(4): 7-10.
[62] 于靖军，宗光华，毕树生等，纳米级精度柔性机器人的设计方法及实现研究，中国机械工程, 2002, 13(18): 1577-1580.
[63] 于靖军，毕树生，宗光华，空间全柔性机构位置分析的刚度矩阵法，北京航空航天大学学报，2002, 28(3): 323-326.
[64] 于靖军，毕树生，宗光华等，三自由度3-CS并联平台机构的运动学分析，航空学报，2001(3): 217-221.
[65] 于靖军，毕树生，宗光华等，面向生物工程的微操作机器人机构型综合研究，北京航空航天大学学报，2001, 26(3): 356-360.
[66] 于靖军，宗光华，毕树生，全柔性机构与MEMS，光学精密工程，2001, 9(1): 1-5.
n 授权发明专利
[1] 于靖军，谢岩，裴旭. 一种具有常值刚度的柔性并联万向节，中国发明专利：ZL 3.0
[2] 王坤，于靖军，房建成，宗光华. 一种用于磁悬浮高速旋转设备的径轴一体柔性保护轴承, 中国发明专利：ZL2.0
[3] 王坤，于靖军，房建成，宗光华.一种用于磁悬浮高速旋转设备的径向承载柔性保护轴承, 中国发明专利：ZL6.9
[4] 于靖军，孔宪文，吴钪，旷静，一种运动模式可变的二自由度并联机械手腕，中国发明专利：ZL8.8
[5] 于靖军，吴钪，宗光华，具有球面纯滚性质的二自由度并联转动机构，中国发明专利：ZL3.4
[6] 于靖军，吴钪，宗光华，一种并联式二自由度指向装置，中国发明专利：ZL0.1
[7] 于靖军，余家柱，吴钪，孔宪文，一种等速的并联式动力传动装置，中国发明专利：ZL4.5
[8] 于靖军，旷静，宗光华等，一种组合式电子激光音乐喷泉，中国发明专利：ZL6.9
[9] 于靖军，陆登峰，丁希仑，郭卫东，一种基于四杆机构相似的二自由度缩放机构，中国发明专利：ZL 4.4
[10] 于靖军，旷静，宗光华，李振国，一种组合式电子激光音乐喷泉，中国发明专利：ZL 6.9
[11] 于靖军，陆登峰，宗光华，一种机械原理教学中用于演示自由度与约束对偶关系的可重构柔性教具，中国发明专利, 专利号: 3.4
[12] 于靖军，裴旭，徐杰，宗光华，毕树生. 一种适用于复合加载的异形十字轴式联轴器. 中国发明专利，专利号: ZL6.3
[13] 于靖军，东昕，裴旭，宗光华. 两自由度空间转动并联机构. 中国发明专利，专利号: ZL9.3
[14] 于靖军，裴旭，宗光华，毕树生，余志伟. 一种可调的虚拟中心转动并联机构. 中国发明专利，专利号: ZL1.7
[15] 于靖军，裴旭，宗光华，毕树生. 具有虚拟转动中心的大变形柔性虎克铰. 中国发明专利，专利号: ZL3.9
[16] 于靖军，裴旭，宗光华，毕树生，孙明磊. 一种新型的基于仿图仪的远程中心运动机构. 中国发明专利，专利号: ZL3.4
[17] 于靖军，毕树生，宗光华等，塑料微流控芯片自动对准装置，中国发明专利，专利号: ZL 1.6
[18] 吴钪，于靖军，宗光华，一种模块化二自由度虚拟转心并联机构，中国发明专利：ZL2.3
[19] 吴钪，于靖军，宗光华，二自由度等径球面纯滚并联转动机构，中国发明专利：ZL.7
[20] 屈玉丰，于靖军，宗光华，吴钪，一种实现多维纯弯矩和拉压力的复合负载模拟器，中国发明专利：ZL 9.X
[21] 裴旭，于靖军，宗光华，毕树生，余志伟. 一种绳驱动的二维虚拟中心转动机构. 中国发明专利，专利号: ZL9.X
[22] 裴旭，于靖军，李伟，宗光华，毕树生，一种适用于轮椅的双平行四杆越障机构. 中国发明专利，专利号: ZL 2.4
[23] 裴旭，于靖军，宗光华，毕树生，余志伟. 重力平衡的远程中心运动机构. 中国发明专利，专利号: ZL4.9
[24] 裴旭，宗光华，于靖军，李伟，毕树生，具有虚拟运动中心的双平行四杆两维转动并联机构. 中国发明专利，专利号: ZL6.3
n 代表性教学论文
[1] 于靖军，郭卫东，陈殿生. 面向工程教育的STEP教学模式，高等工程教育研究，2017(4): 73-77.
[2] 于靖军，郭卫东. 融入机械史的机械原理教学研究与实践，机械原理课程的内涵发展与质量提升，大连理工大学出版社, 2017.
[3] 于靖军，郭卫东. 对“机械原理”中特殊过约束机构自由度的再思考，广西大学学报，2015，40(z2)：67-70.
[4] 于靖军，郭卫东，舒恬. 与机械原理课程教学及其创新型教材配套的项目资源库建设，天津工业大学学报，2014, 33(z)：194-196.
[5] J.J. Yu, D.F. Lu, X.L. Ding, W.D. Guo. Teaching creative mechanism design by integrating synthesis methodology and physical models, The 2013 ASME International Design Engineering Technical Conferences. 2013, Aug 4-7, Oregon, Portland, DETC2013-12173.
[6] 舒恬，于靖军，郭卫东等. 改进体系，雕琢内容，创新形式，打造精品——面向研究型大学的“机械原理”教材介绍，高等工程教育研究，2013(z)：149-150.
[7] 李晓利，郭卫东，于靖军. 凸轮机构实验的改革与实践，高等工程教育研究，2013(z)：203-204.
[8] 郭卫东，李晓利，于靖军. 机械速度波动调节实验的设计与实践，实验技术与管理，2013, 20(10)：145-148.
[9] S.Z. Li, J.J. Yu, G.H. Zong, et al.Development of a reconfigurable compliant education kit for undergraduate mechanical engineering education, ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2012), Tianjin, 2012. 105-116.
[10] 于靖军，李伟，郭卫东. 有关机构分析类大作业的教学实践，哈尔滨工业大学学报（社会科学版），2011，13(z1)：118-119.
[11] 于靖军，郭卫东，李继婷，高志慧. 北美大学《机械原理》教学的近观与反思，辽宁师范大学学报，2009，32(z)：50-52（中国教育，2009）.

◆学术与社会服务
² Mechanical Sciences topic editor
² Chinese Journal of Mechanical Engineering编委
² Frontiers of Mechanical Engineering编委；
² 中国机械工程学会机器人分会常务委员
² 中国自动化学会机器人专业委员会委员
² 中国机械工程学会机械设计分会委员；
² 中国机械工程学会机械传动分会机构学专业委员会委员；
² 中国机械工程学会工程教育专业认证委员会专委会委员
² 2015~2019，ASME IDETC机构学与机器人分会的Symposium Co-Organizer.
² 2009，2012，2015年，三届ASME/IFToMM ReMAR程序委员会委员.
² NSFC第一、二届“中国机构学发展中青年论坛”组委会成员.
² 创办学术年会“柔性机构学基础理论及技术应用研讨会”，并于2016年主办首届研讨会.
² 2018年，作为客座编辑，组织《机械工程学报》第13期 “柔性机构与机器人”专栏
² 2016年，作为客座编辑，组织Frontiers of Mechanical Engineering特刊Mechanisms and Robotics.
² 2005，2010，2015年，在《机械工程学报》组织“纪念张启先院士诞辰80，85，90周年机构学与机器人”专栏或专辑
² 高等教育出版社“机器人科学与技术”丛书编委会委员


Curriculum Vitae (CV)

Jingjun Yu
PhD, Professor
Vice Dean, School of Mechanical Engineering and Automation
Beihang University
No. 37, Xueyuan RD,
Beijing, 100083, China
Cell-phone: +86-**
Email: jjyu@buaa.edu.cn
Education
Beihang University (BUAA), Beijing, China
Ph.D. Mechanical Engineering, 2002
l Research: Compliant mechanisms and robots, Screw theory
Yanshan University, Qinhuangdao, China
M.S., Mechanical Engineering, 1998
l Research: Parallel mechanisms and robots, Screw theory
M. Eng., Mechanical Engineering, 1995
Academic Experiences
lFrom July 2014 to present, Professor in Beihang University
lFrom Fall 2005 to July 2014: Associate Professor in Beihang University
lJan. 2017-Feb. 2017: Advanced Visiting Scholar at Heriot Watt University, UK
lFeb. 2009-Feb. 2010: Visiting Scholar at LMP, Massachusetts Institute of Technology, USA
lOct. 2005-Mar. 2006: Visiting Scholar at Kyushu University, Japan
lJune 2004-July 2005: Lecturer in Beihang University
lJuly 2002-June 2004: Postdoctoral fellow at Beihang University
Academic and Society Membership
lEditor board member <Journal of Chinese Mechanical Engineering>
lEditor board member <Frontiers of Mechanical Engineering>
lASME member (No. )
lCo-Chair of mechanism analysis and synthesis session at ASME International DETC2019, 43th Biennial Mechanisms and Robotics Conference
lCo-Chair of mechanism analysis and synthesis session at ASME International DETC2018, 42th Biennial Mechanisms and Robotics Conference
lCo-Chair of mechanism analysis and synthesis session at ASME International DETC2017, 41th Biennial Mechanisms and Robotics Conference
lCo-Chair of mechanism analysis and synthesis session at ASME International DETC2015, 39th Biennial Mechanisms and Robotics Conference
lCo-Chair of mechanism analysis and synthesis session at ASME International DETC2014, 38th Biennial Mechanisms and Robotics Conference
lCo-Chair of mechanism analysis and synthesis session at ASME International DETC2013, 37th Biennial Mechanisms and Robotics Conference
lCo-Chair of compliant mechanism design session at ASME International DETC2010, 34th Biennial Mechanisms and Robotics Conference
lProgramming member of ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2009, ReMAR 2012, ReMAR 2015)
lReviewer as IEEE Transactions on Robotics, ASME Journal of Mechanism and Robotics, ASME Journal of Mechanical Design, Mechanism and Machine Theory, Robotica, Chinese Journal of Mechanical Engineering, ASME IDETC, IFToMM, ICRA, IROS…….
Teaching
lTheory of Machines and Mechanisms (Undergraduate)
This course focus on the analysis and design of machinery. Topics include: kinematics and mechanism fundamentals, position/velocity/acceleration and statics analysis of linkages, cams and gear trains, dimensional synthesis of planar linkages, dynamics analysis of linkages and cams.
lMathematic Foundation of Robotics (Graduate)
This course focus on the applications of two mathematic tools i.e. Lie group/ Lie algebra and screw theory in robotic mechanisms. Topics include: Lie group and Lie algebra fundamentals, screw and rigid-body motion, screw system and reciprocal screw system, mobility and type synthesis of parallel mechanisms, POE formula of kinematics.
lPrecision Machine Design (Graduate)
The course provides an intensive coverage of precision engineering theory and its application to the design of modern precision equipment such as machine tools, robots, and metrology devices. Topics covered include: precision design philosophy; the current state of art; principles of accuracy, repeatability, and resolution; error budgeting; exact constraint design, sensors and sensor mounting; contact and non-contact bearings for rotary and linear motion; actuators and transmissions; structural design; dynamic response and structural damping; solid modeling of complex systems.
Research Interests
lCompliant Mechanisms and Robotics
lPrecision Machine Design
lScrew theory and Geometry of Kinematics
Books and Chapters
1. J.J. Yu, S.S. Bi, X. Pei, et al. Flexure Design: Analysis and Synthesis of Compliant Mechanisms (in Chinese), Higher Education Press, 2018
2. J.J. Yu, X.J. Liu, X.L. Ding, and J.S. Dai. Mathematical Foundation of Mechanisms and Robotics, Second Edition (in Chinese). China Machine Press, 2016
3. J.J. Yu, X. Pei, and G.H. Zong. Graphical Creative Design of Mechanical Devices (in Chinese), Science Press, 2014
4. J.J. Yu. Mechanisms and Machine Theory (in Chinese), China Machine Press, 2013
5. J.J. Yu, X.J. Liu, X.L. Ding, and J.S. Dai. Mathematical Foundation of Mechanisms and Robotics (in Chinese). China Machine Press, 2008
6. S.S. Bi, J.J. Yu (Corresponding author), and G.H. Zong. “Design, Analysis and Applications of Flexure-based Compliant Parallel Kinematic Machines”. One Chapter in the book “Parallel Robotics: Recent Advances in Research and Application”, Nova Science Publishers, New York, USA. 2008.
Books Translations
1. J.J. Yu, X.J. Liu. Exact Constraint: Machine Design Using Kinematic Principle (CHN Translation). China Machine Press, 2017. (Originally by D.L. Blanding, ASME Press, 1999)
2. G.M. Chen, J.J. Yu, et al. Handbook of Compliant Mechanisms (CHN Translation). Higher Education Press, 2015. (Originally by L. Howell et al. Wiley, 2012)
3. J.J. Yu, S.S. Bi, Y.H. Zhou. Type Synthesis of Parallel Mechanisms (CHN Translation). China Machine Press, 2014. (Originally by X.W. Kong, Springer, 2009)
Selected Journal Papers
1. K. Liu, X.W. Kong, J.J. Yu, Operation mode analysis of lower-mobility parallel mechanisms based on dual quaternions, Mechanism and Machine Theory, 142: 10357
2. F.H. Meng, J.J. Yu, D. Alaluf, B. Mokrani, A. Preumont. Modal flexibility based damage detection for suspension bridge hangers: A numerical and experimental investigation, Smart Structures and Systems, 2019, 23(1): 15-29.
3. W.S. Ma, Y.Q. Yang, and J.J. Yu. General routine of suppressing single vibration mode by multi-DOF tuned mass damper: Application of three-DOF, Mechanical Systems and Signal Processing, 2019, 121: 77-96.
4. Y. Xie, X. Pei, and J.J. Yu. Double-layer sandwich annulus with ultra-low thermal expansion. Composite Structures, 2018, 203: 709-717.
5. Y. Xie, J.J. Yu, H.Z. Zhao. Deterministic design for a compliant parallel universal joint with constant rotational stiffness, Journal of Mechanisms and Robotics, Transactions of the ASME, 2018, 10(5): 031006.
6. X.B. He, J.J. Yu, G.B. Hao. Effect of degree-of-symmetry on kinetostatic characteristics of flexure mechanisms: a comparative case study, Chinese Journal of Mechanical Engineering, 2018, 31(1): 1-12.
7. N. Ma, J.J. Yu, X. Dong, et al. Design and stiffness analysis of a class of 2-DoF tendon driven parallel kinematics mechanism, Mechanism and Machine Theory, 2018, 129: 202-217.
8. Y. Wang, J.J. Yu, X. Pei. Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism, Frontiers of Mechanical Engineering, 2018, 13(3): 368-375.
9. J.J. Yu, Z. Jin, X.W. Kong. Identification and comparison for continuous motion characteristics of three two-degree-of-freedom pointing mechanisms. Journal of Mechanism and Robotics, Transactions of the ASME, 2017, 9(5): 051015.
10. J.J. Yu, K. Wu, G.H. Zong, X.W. Kong. A Comparative study on motion characteristics of three two-degree-of-freedom pointing mechanisms. Journal of Mechanism and Robotics, Transactions of the ASME, 2016, 8(2): 021027.
11. J.J. Yu, D.F. Lu, G.B. Hao. Design and analysis of a 2-DOF compliant parallel pan-tilt platform, Meccanica, 2016, 51(7): 1559-1570.
12. J.J. Yu, Special issue: Mechanisms and robotics, Frontiers of Mechanical Engineering, 2016, 11(2): 117-118.
13. G.B. Hao, J.J. Yu. Design, modelling and analysis of a completely-decoupled XY compliant parallel manipulator. Mechanism and Machine Theory, 2016, 102: 179-195.
14. G.B. Hao, J.J. Yu, H.Y. Li. A brief review on nonlinear modeling methods and applications of compliant mechanisms, Frontiers of Mechanical Engineering, 2016, 11(2): 119-128.
15. G.B. Hao, H.Y. Li. S. Kemalcan, G.M. Chen, J.J. Yu.Understanding coupled factors that affect the modelling accuracy of typical planar compliant mechanisms, Frontiers of Mechanical Engineering, 2016, 11(2): 129-134.
16. J.J. Yu, X. Yan, Z.G. Li, G.B. Hao. Design and experimental testing of an improved large-range decoupled XY compliant parallel micromanipulator, Journal of Mechanism and Robotics, Transactions of the ASME, 2015, 7(4): 044503.
17. J.J. Yu, D.F. Lu, Z.X. Zhang, X. Pei. Motion capability analysis of a quadruped robot as a parallel manipulator, Frontiers of Mechanical Engineering, 2015, 9(4): 295-307.
18. M. Jia, R.P. Jia, J.J. Yu. A Compliance-based parameterization approach for type synthesis of flexure mechanisms, Journal of Mechanism and Robotics, Transactions of the ASME, 2015, 7(3): 031014.
19. X.W. Kong, J.J. Yu. Type synthesis of 2-DOF 3-4R parallel mechanisms with both spatial parallelogram translational mode and equal-diameter spherical rotation mode, Journal of Mechanism and Robotics, Transactions of the ASME, 2015, 7(4): 041018.
20. X.W. Kong,J.J. Yu, D.L. Li. Reconfiguration analysis of a two degrees-of-freedom 3-4r parallel manipulator with planar base and platform, Journal of Mechanism and Robotics, Transactions of the ASME, 2015, 8(1): 011019.
21. K. Wu, J.J. Yu, G.H. Zong, et al. A family of rotational parallel manipulators with equal-diameter spherical pure rotation, Journal of Mechanism and Robotics, Transactions of the ASME, 2014, 6(1): 011008.
22. X. Pei, J.J. Yu, G.H. Zong, S.S. Bi. Design of compliant straight-line mechanisms using flexural joints, Chinese Journal of Mechanical engineering, 2014, 27(1): 146-153.
23. S.Z. Li, J.J. Yu. Design principle of high-precision flexure mechanisms based on parasitic-motion compensation, Chinese Journal of Mechanical Engineering, 2014, 27(4): 663-672.
24. J.J. Yu, S.Z. Li, C. Qiu.An analytical approach for synthesizing line actuation spaces of parallel flexure mechanisms,Journal of Mechanical Design, Transactions of the ASME, 2013, 135(6): 12450.
25. J.J. Yu, X. Dong, X. Pei, X.W. Kong. Mobility and singularity analysis of a class of 2-DOF rotational parallel mechanisms using a visual graphic approach, Journal of Mechanism and Robotics, Transactions of the ASME,2012, 4(4): 041006.
26. J.J. Yu, W. Li, X. Pei, S.S. Bi, G.H. Zong. A compound load simulator based on zero-torsion parallel mechanisms, Frontiers of Mechanical Engineering, 2012, 7(1): 92-95.
27. X. Dong, J.J. Yu, B. Chen, G.H. Zong. Geometric approach for kinematic analysis of a class of 2-DOF rotational parallel manipulators, Chinese Journal of Mechanical engineering, 2012, 25(2): 241-247.
28. X. Pei, J.J. Yu, G.H. Zong, S.S. Bi. A family of butterfly flexural joints: Q-LITF pivots, Journal of Mechanical Design, Transactions of the ASME, 2012, 134(12): 121005.
29. S.Z. Li, J.J. Yu, G.H. Zong, H.J. Su. Conditions for realizable configurations in synthesis of constraint-based flexure mechanisms, Chinese Journal of Mechanical Engineering, 2012, 25(6): 1086-1095.
30. H.Z. Zhao, S.S. Bi, J.J. Yu. A novel compliant linear-motion mechanism based on parasitic motion compensation, Mechanism and Machine Theory, 2012, 50: 15-28.
31. H.Z. Zhao, S.S. Bi, J.J. Yu. Design of a family of ultra-precision linear motion mechanisms, Journal of Mechanism and Robotics, Transactions of the ASME, 2012, 4(4): 041012.
32. H.J. Su, H.L. Shi, J.J. Yu.A symbolic formulation for analytical compliance analysis and synthesis of flexure mechanisms,Journal of Mechanical Design, Transactions of the ASME, 2012, 134(5): 051009.
33. J.J. Yu, S.Z. Li, H.J. Su, M.L. Culpepper. Screw theory based methodology for the deterministic type synthesis of flexure mechanisms, Journal of Mechanism and Robotics, Transactions of the ASME,2011, 3(3): 031008.
34. J.J. Yu, S.Z. Li, X. Pei, S.S. Bi, G.H. Zong. A unified approach to type synthesis of both rigid and flexure parallel mechanisms, Science in China Series E: Technological Sciences, 2011, 54(5): 1206-1219.
35. X. Pei, J.J. Yu. A new large-displacement beam-based flexure joint, Mechanical Sciences,2011, 2, 183–188.
36. H.Z. Zhao, S.S. Bi, and J.J. Yu. Nonlinear deformation behavior of a beam-based flexural pivot with monolithic arrangement, Precision Engineering, 2011, 35(2): 369-382.
37. X. Pei, J.J. Yu. A visual graphic approach for mobility analysis of parallel mechanisms, Frontiers of Mechanical Engineering, 2011, 6(1): 92-95.
38. J.J. Yu, J.S. Dai, S.S. Bi, G.H. Zong. Type synthesis of a class of spatial lower-mobility parallel mechanisms with orthogonal arrangement based on lie group enumeration, Science in China Series E: Technological Sciences, 2010, 53(1): 388-404.
39. X. Pei, J.J. Yu, G.H. Zong, S.S. Bi. An effective pseudo-rigid-body method for beam-based compliant mechanisms, Precision Engineering, 2010, 34(3): 634-639.
40. J.J. Yu, J.S. Dai, T.S. Zhao, S.S. Bi, G.H. Zong. Mobility analysis of complex joints by means of screw theory, Robotica, 2009, 27: 915-927.
41. X. Pei, J.J. Yu, G.H. Zong, S.S. Bi. The modeling of cartwheel flexural hinges, Mechanism and Machine Theory, 2009, 44(10): 1900-1909.
42. X. Pei, J.J. Yu, G.H. Zong, S.S. Bi. A novel family of leaf-type compliant joints: combination of two isosceles-trapezoidal flexural pivots in series, Journal of Mechanism and Robotics, Transactions of the ASME, 2009, 5(1): 021005.
43. S.S. Bi, H.Z. Zhao, J.J. Yu. Modeling of a cartwheel flexural pivot, Journal of Mechanical Design, Transactions of the ASME, 2009, 131(6): 061010.
44. J.J. Yu, J.S. Dai, G.H. Zong, S.S. Bi. Numeration and type synthesis of 3-DOF orthogonal translational parallel manipulators, Progress in Natural Science, 2008, 18: 563-574.
45. X. Pei, J.J. Yu, G.H. Zong, S.S. Bi, et al. Analysis of rotational precision for an isosceles-trapezoidal flexural pivot, Journal of Mechanical Design, Transactions of the ASME, 2008, 130(5): 052302.
46. X. Pei, J.J. Yu, G.H. Zong, S.S. Bi. The modeling of leaf-type isosceles-trapezoidal flexural pivots, Journal of Mechanical Design, Transactions of the ASME,2008, 130(8): 082303.
47. G.H. Zong, X. Pei, J.J. Yu, S.S. Bi. Classifications and type synthesis of one-DOF remote-center-of-motion mechanisms, Mechanism and Machine Theory. 2008, 44(12): 1585-1595.
48. Z. Huang, Y.S. Zhao, J. Wang, J.J. Yu. Kinematic principle and geometrical condition of general-linear-complex special configuration of parallel manipulators. Mechanism and Machine Theory, 1999, 34(8): 1171-1186.