谢福贵
技术职务:副研究员
办公电话: **
通讯地址:清华大学李兆基科技大楼A914
电子邮件: xiefg@tsinghua.edu.cn





教育背景
工作履历
教学工作
科研工作
论文与专利
奖励与荣誉

2007/09-2012/06,清华大学，博士
2001/09-2005/07,同济大学，学士


2018/12-至今, 清华大学机械工程系，副研究员
2015/11-2016/12,德国弗朗霍夫机床与成形技术研究所，“洪堡”
2014/10-2018/12,清华大学机械工程系，助理研究员
2012/06-2014/10,清华大学精密仪器与机械学系，博士后


本科生课程：
机械设计基础(1)、制造工艺设计实践


机构学与机器人、先进制造技术及装备


主要承担课题
[1]2018.01—2020.12，“高档数控机床与基础制造装备”科技重大专项：大型航天器舱体多安装面整体结构一体化加工应用示范(子课题)
[2]2017.12—2020.11，科技部重点研发计划课题：大型风电叶片磨抛移动式高效加工机器人系统设计
[3]2017.01—2020.12，国家自然科学基金面上项目：啄木鸟仿生学制造装备机构创新设计及关键技术研究
[4]2015.01—2017.12，“高档数控机床与基础制造装备”科技重大专项：五千台具有完全自主知识产权的面向机床自动化生产的机器人开发及产业化工程(子课题)
[5]2014.01—2016.12，国家自然科学基金青年基金：可实现SCARA运动的新型并联机器人机构及其动态特性研究


已出版著作
[1] 刘辛军、谢福贵、汪劲松，并联机器人机构学基础，北京：高等教育出版社，2018.10. (ISBN：978-7-04-050604-4)


已发表SCI论文
[1] Shen Xu, Xie Fugui*, Liu Xin-Jun, Xie Zenghui. A smooth and undistorted toolpath interpolation method for 5-DoF parallel kinematic machines. Robotics and Computer-Integrated Manufacturing, 2019, 57:347-356.
[2] Bi Weiyao, Xie Fugui*, Liu Xin-Jun*, Luo Xuan. Optimal design of a novel 4-degree-of-freedom parallel mechanism with flexible orientation capability. Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 2019, 233(2):632-642.
[3] Li Jie, Xie Fugui*, Liu Xin-Jun, Mei Bin, Li Hongji. A spatial vector projection based error sensitivity analysis method for industrial robots. Journal of Mechanical Science and Technology, 2018, 32(6):2839-2850.
[4] Xin-Jun Liu, Gang Han, Fugui Xie*, Qizhi Meng. A novel acceleration capacity index based on motion/force transmissibility for high-speed parallel robots. Mechanism and Machine Theory, 2018, 126:155-170.
[5] Xin-Jun Liu, Gang Han, Fugui Xie*, Qizhi Meng, Sai Zhang. A Novel Parameter Optimization Method for the Driving System of High-Speed Parallel Robots. Journal of Mechanisms and Robotics-Transactions of the ASME, 2018, 10(4):041010.
[6] Gang Han, Fugui Xie*, Xin-Jun Liu*. Evaluation of the power consumption of a high-speed parallel robot. Frontiers of Mechanical Engineering, 2018, 13(2):167-178.
[7] Qizhi Meng, Fugui Xie*, Xin-Jun Liu*. Conceptual Design and Kinematic Analysis of a Novel Parallel Robot for High-Speed Pick-and-Place Operations. Frontiers of Mechanical Engineering, 2018, 13(2):211-224.
[8] Fugui Xie, Xin-Jun Liu*, Jinsong Wang, Markus Wabner. Kinematic optimization of a five Degrees-of-Freedom spatial parallel mechanism with large orientational workspace. Journal of Mechanisms and Robotics-Transactions of the ASME, 2017, 9(5): 051005.
[9] Jie Li, Fugui Xie*, Xin-Jun Liu*, Zeyuan Dong, Zhiyong Song, Weidong Li. A geometric error identification method for the swiveling axes of five-axis machine tools by static R-test. The International Journal of Advanced Manufacturing Technology, 89(9), 3393-3405, 2017.
[10] Fugui Xie*, Xin-Jun Liu *, Xuan Luo, Markus Wabner. Mobility, Singularity and Kinematics Analysis of a Novel Spatial Parallel Mechanism. Journal of Mechanisms and Robotics-Transactions of the ASME, 2016, 8:061022.
[11] Fugui XIE*, Xin-Jun LIU*. Analysis of the kinematic characteristics of a high-speed parallel robot with Sch?nflies motion: Mobility, kinematics, and singularity [J]. Front. Mech. Eng., 2016, 11(2): 135-143.
[12] Xie F G, Liu X J*, Wang J S. Conceptual design and optimization of a 3-DoF parallel mechanism for a turbine blade grinding machine. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2016, 230(3): 406-413.
[13] Jie Li, Fugui Xie*, Xin-Jun Liu*. Geometric error modeling and sensitivity analysis of a five-axis machine tool, The International Journal of Advanced Manufacturing Technology, 82(9), 2037-2051, 2016.
[14] Li Jie, Xie Fugui*, Liu Xin-Jun*, Li Weidong, Zhu Shaowei. Geometric error identification and compensation of linear axes based on a novel 13-line method. The International Journal of Advanced Manufacturing Technology, 87(5), 2269-2283, 2016.
[15] Xie Fugui*, Liu Xin-Jun. Design and development of a High-Speed and High-Rotation robot with four identical arms and a single platform. Journal of Mechanisms and Robotics-Transactions of the ASME, 2015, 7(4):041015.
[16] Xie Fugui*, Liu Xin-Jun, Wu Chao and Zhang Pan. A novel spray painting robotic device for the coating process in automotive industry. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2015, 229(11):2081-2093.
[17] Fugui Xie*, Xin-Jun Liu and Chao Wang, Design of a novel 3-DoF parallel kinematic mechanism: type synthesis and kinematic optimization, Robotica, 2015, 33(3):622-637.
[18] Chen Xiang, Liu Xin-Jun*, Xie Fugui*. Screw theory based singularity analysis of Lower-Mobility parallel robots considering the Motion/Force transmissibility and constrainability. Mathematical Problems in Engineering, 2015: 487956.
[19] Fugui Xie*, Xin-Jun Liu and Yanhua Zhou, Optimization of a Redundantly Actuated Parallel Kinematic Mechanism for a 5-DoF Hybrid Machine Tool, Proceedings of the Institution of Mechanical Engineers, Part B：Journal of Engineering Manufacture, 2014, 228(12): 1630-1641.
[20] Fugui Xie*, Xin-Jun Liu and Yanhua Zhou, Development and Experimental Study of a Redundant Hybrid Machine with Five-Face Milling Capability in One Setup, International Journal of Precision Engineering and Manufacturing, 2014, 15(1):13-21.
[21] Xie Fugui*, Liu Xin-Jun, You Zheng, Wang Jinsong. Type synthesis of 2T1R-type parallel kinematic mechanisms and the application in manufacturing. Robotics and Computer-Integrated Manufacturing, 2014, 30(1):1-10.
[22] Chen Y. Z., Xie F. G.*, Liu X. J., Zhou Y. H. Error modeling and sensitivity analysis of a parallel robot with SCARA (selective compliance assembly robot arm) motions. Chinese Journal of Mechanical Engineering, 2014, 27(4):693-702.
[23] Xie Fugui*, Liu Xin-Jun, Li Tiemin. Type synthesis and typical application of 1T2R-type parallel robotic mechanisms. Mathematical Problems in Engineering, 2013, Vol. 2013, Article ID 206181, 12 pages.
[24] Fugui Xie*, Xin-Jun Liu and Tiemin Li, A Comparison Study on the Orientation Capability and Parasitic Motions of Two Novel Articulated Tool Heads with Parallel Kinematics, Advances in Mechanical Engineering, 2013, Vol. 2013, Article ID 249103, 11 pages.
[25] XIE Fugui*, LI Tiemin and LIU Xinjun, Type Synthesis of 4-DoF Parallel Kinematic Mechanisms Based on Grassmann Line Geometry and Atlas Method, Chinese Journal of Mechanical Engineering, 2013, 26(6):1073-1081.
[26] Zhou Y. H.*, Xie F. G., Liu X. J. Optimal design of a main driving mechanism for servo punch press based on performance atlases. Chinese Journal of Mechanical Engineering, 2013, 26(5):909-917.
[27] Fugui Xie, Xin-Jun Liu*, Jinsong Wang, A 3-DOF parallel manufacturing module and its kinematic optimization, Robotics and Computer-Integrated Manufacturing, 2012, 28(3):334-343.
[28] Xie Fugui, Liu Xin-Jun*, Wang Jinsong. Performance evaluation of redundant parallel manipulators assimilating motion/force transmissibility. International Journal of Advanced Robotic Systems, 2011, 8(5):113-124.
[29] Fugui Xie, Xin-Jun Liu*, Hui Zhang and Jinsong Wang, Design and experimental study of the SPKM165, a five-axis serial-parallel kinematic milling machine, Science China Technological Sciences, 54(5), pp: 1193-1205, 2011.
[30] Li-Ping Wang, Fu-Gui Xie, Xin-Jun Liu* and Jin-Song Wang, Kinematic calibration of the 3-DOF parallel module of a 5-axis hybrid milling machine, Robotica, 29(4), pp: 535-546, 2011.
[31] Fugui Xie, Xin-Jun Liu*, Li-Ping Wang, and Jinsong Wang, "Optimal Design and Development of a Decoupled A/B-Axis Tool Head with Parallel Kinematics," Advances in Mechanical Engineering, vol. 2010, Article ID 474602, 14 pages, 2010.
授权发明专利
[1]. 谢福贵，刘辛军，汪劲松，一种多轴联动装置，中国发明专利，专利号：ZL 9.4，授权时间：2018.4.10。
[2]. 谢福贵，刘辛军，汪劲松，一种基于三自由度并联机构的六轴联动混联装置，中国发明专利，专利号：ZL 5.5，授权时间：2017.1.18。
[3]. 谢福贵，刘辛军，周艳华，汪劲松，一种基于并联模块的多轴联动装置，中国发明专利，专利号：ZL 6.4，授权时间：2016.9.21。
[4]. 谢福贵，刘辛军，陈禹臻，汪劲松，一种基于四自由度并联机构的多轴联动混联装置，中国发明专利，专利号：ZL6.3，授权时间：2015.9.30。
[5]. 谢福贵，刘辛军，苏铮，王立平，汪劲松，一种具有高灵活特性的三自由度空间并联机构，中国发明专利，专利号：ZL1.7，授权时间：2014.3.12。
[6]. 谢福贵，刘辛军，汪劲松，一种具有单自由度铰链的三自由度并联主轴头，中国发明专利，专利号：ZL4.8，授权时间：2013.12.11。
[7]. 刘辛军，谢福贵，韩刚，唐晓强，汪劲松，一种大跨度多功能机器人化工程施工装备，中国发明专利，专利号：ZL 3.5，授权时间：2018.4.10。
[8]. 刘辛军，谢福贵，李杰，汪劲松，一种可实现五面加工的多轴联动装置，中国发明专利，专利号：ZL3.0，授权时间：2016.8.17。
[9]. 刘辛军，谢福贵，王立平，尤政，一种可实现SCARA运动的四自由度单动平台并联机构，中国发明专利，专利号：ZL5.1，授权时间：2015.5.20。
[10].刘辛军，谢福贵，陈祥，一种多杆机构汽车涂装输送机，中国发明专利，专利号：ZL8.3，授权时间：2014.9.24。
[11].刘辛军，李杰，谢福贵，董泽园，陈俊宇，一种具有能量回收和转换功能的新型公路减速带，中国发明专利，专利号：ZL 1.4，授权时间：2018.6.22。
[12].刘辛军，孟齐志，谢福贵，罗璇，一种火箭型号及姿态可调节的火箭发射平台，中国发明专利，专利号： ZL 8. 4，授权时间：2017.08.11。
[13].刘辛军，李杰，谢福贵，一种五自由度混联工业机器人，中国发明专利，专利号：ZL0.5，授权时间：2016.6.1。
[14].刘辛军，汪劲松，谢福贵，陈祥，一种用于数控转塔冲床的机械伺服驱动主传动装置，中国发明专利，专利号：ZL2.7，授权时间：2012.05.09。
[15].刘辛军，汪劲松，谢福贵，一种驱动冗余三自由度并联机构，中国发明专利，专利号：ZL7.6，授权时间：2012.2.22。
[16].刘辛军，汪劲松，谢福贵，一种多轴联动混联装置，中国发明专利，专利号：ZL8.4，授权时间：2010.1.13。


[1]2018年获中国机械工业科学技术奖(技术发明)一等奖 (排名第2)
[2]2018年获中国好设计奖银奖 (排名第2)
[3]2018年获清华大学实验技术成果奖一等奖 (排名第3)
[4]2018年获第三届中国科协优秀科技论文奖(通讯作者)
[5]2017年获全国机器人专利创新创业大赛特等奖 (排名第2)
[6]2017年获《机械工程学报》首届高影响力论文奖 (作者排名第2)
[7]2014年获ICIRA2014国际会议大会唯一最佳论文奖 (作者排名第1)
[8]2013年获第三届“上银优秀机械博士论文奖”优秀奖