汪劲松
教授
wangjs@mail.tsinghua.edu.cn
9003大楼1504





教育背景
工作履历
科研工作
论文与专利
奖励与荣誉

1981. 9–1986. 2, 清华大学本科，机械制造专业，工学学士
1986. 2–1988. 11, 清华大学硕士生，机械制造专业，工学硕士
1988. 11–1990. 12, 清华大学博士生，机械制造专业
1991.4，获清华大学工学博士学位


1990. 12–1992. 11, 清华大学精仪系机器人研究室，讲师
1992. 12–1995. 3, 清华大学精仪系机械制造联合教研室，副教授，主任
1995. 3–1998. 9, 清华大学精仪系制造工程研究所，所长
1995. 8–至今, 清华大学精仪系，教授
1996. 1–至今, 清华大学精仪系、博士生导师
1996. 5–至今, 国家CIMS工程技术研究中心，副主任
1997. 4–1998. 8, 美国密西根大学(University of Michigan)机械系，访问
1998. 9–1999. 9, 清华大学精仪系，副主任
1998. 12–1999. 9, 清华大学教务处，处长
1999. 4–2004. 4, 教育部首届奖励计划，
1999. 9–2000.6, 清华大学机械工程学院，副院长
2000. 6–2001.8, 清华大学精密仪器与机械学系，系主任
2001.8－2003, 清华大学教务处，处长
2003.1－2004.2, 清华大学教务长
2004.2-2009.6, 清华大学副校长、研究生院院长
2009.7-2013.1, 电子科技大学，校长
2013.1-至今, 西北工业大学，校长


研究领域：
先进制造装备及技术，机器人学，IC装备，绿色制造


研究概况：
主持了新型并混联装备的自主研发工作，先后研制了有广泛应用背景的10余台并混联装备，形成了一套包括基于平行四边形机构的构型创新设计方法、并联机构力传递特性分析与评价方法、基于优质尺度域的机构优化设计方法、最少参数线性组合的运动学标定方法等的较完整的具有特色的并混联装备分析与设计理论、方法和技术体系。基于新型步行原理和功能仿生的观点开发了不同形式的新型步行机器人，并主持研制了设计功能水平较高和结构独特、具有自主知识产权的仿人机器人。主持了十五863 IC装备重大专项的战略论证等工作，建立了国家光刻设备工程技术研究中心清华大学研究基地。与企业共同建立了清华至卓绿色制造研发中心，在机电产品的绿色设计与制造理论和方法、机电产品拆卸回收决策支持系统、机电产品全生命周期环境影响评估系统、印刷线路板回收技术的应用等方面做出了广泛的贡献，利用研发的专利技术建立处理废弃线路板的示范生产线。
主持主要科研项目30余项，发表主要论文200余篇，已授权发明专利20余项，参编著作4部(3部英文著作)，获国家教学成果一等奖、教育部科技进步一、二等奖等奖。2008年获得中国机械工业科学技术（发明类）一等奖一项。


1. 参编著作
[1]Xin-Jun Liu and Jinsong Wang, Parallel Kinematics: Type, Kinematics, and Optimal Design, 2014, Springer, Netherlands, 2014. (ISBN 978-3-642-36928-5)
[2]Jinsong Wang and Xin-Jun Liu (Editors), Parallel Robotics: Recent Advances in Research and Application, 2008, Nova Science Publishers, New York, USA. ( ISBN: 978-1-60456-859-2)
[3]Jinsong Wang, Xin-Jun Liu, and Chao Wu, “On the analysis and kinematic design of a novel 2-DOF translational parallel robot”, one chapter (pp.265-300) in the book “Industrial Robotics: Theory, Modeling and Control”, S. Cubero (editor), 2007, pIV pro literature Verlag Robert Mayer-Scholz, Mammendorf, Germany. (ISBN 3-86611-285-8)
[4]叶佩青，汪劲松,《MCX314运动控制芯片与数控系统设计》，北京航空航天大学出版社， 2002.
[5]Xin-Jun Liu and Jinsong Wang, “Some new spatial 3-DoF fully-parallel robotic mechanisms with high or improved rotational capability”(执笔章节), one chapter in the book “Robots Manipulators: New Research”, 2005, Nova Science Publishers, New York, USA. ( ISBN: 1-59454-358-5)


2. 国际期刊论文(SCI数据库收录论文)
[6]Fugui Xie, Xin-Jun Liu, Zheng You, Jinsong Wang, Type synthesis of 2T1R-type parallel kinematic mechanisms and the application in manufacturing, Robotics and Computer- Integrated Manufacturing, Vol.30, No.1, pp.1-10, 2014.
[7]Xin-Jun Liu , Chao Wu, and Jinsong Wang, A new approach for singularity analysis and closeness measurement to singularities of parallel manipulators, Journal of Mechanisms and Robotics -Transactions of the ASME, Vol. 4, 041001-1~041001-10, Nov. 2012.
[8]Fugui Xie, Xin-Jun Liu, Jinsong Wang, A 3-DOF parallel manufacturing module and its kinematic optimization, Robotics and Computer-Integrated Manufacturing, Vol. 28, No.3, pp.334–343, 2012.
[9]Fugui Xie, Xin-Jun Liu and Jinsong Wang, Performance evaluation of redundant parallel manipulators assimilating motion/force transmissibility, International Journal of Advanced Robotic Systems, Vol. 8, No. 5, 113-124, 2011.
[10]Chao Wu, Xin-Jun Liu, Li-Ping Wang, Jinsong Wang, Dimension optimization of an orientation fine-tuning manipulator for segment assembly robots in shield tunneling machines, Automation in Construction, Vol.20, No.4, pp.353-359, 2011.
[11]Yuwen Li, Jinsong Wang, Xin-Jun Liu, Li-Ping Wang, Dynamic performance comparison and counterweight optimization of two 3-DOF parallel manipulators for a new hybrid machine tool, Mechanism and Machine Theory, Vol.45, No.11, pp.1668-1680, 2010.
[12]Jinsong Wang, Chao Wu, and Xin-Jun Liu, Performance evaluation of parallel manipulators: Motion/force transmissibility and its index, Mechanism and Machine Theory, Vol.45, No.10, pp.1462-1476, 2010.
[13]Chao Wu, Xin-Jun Liu, Liping Wang, and Jinsong Wang, Optimal design of spherical 5R parallel manipulators considering the motion/force transmissibility, ASME Journal of Mechanical Design, Vol.132, No. 3, 031002 (10 pages), 2010.
[14]WANG Jinsong, LIU XinJun, and WU Chao, Optimal design of a new spatial 3-DOF parallel robot with respect to a frame-free index, Science in China Series E-Technological Sciences, Vol.52, No.4, pp.986-999, 2009.
[15]Xin-Jun Liu, Jinsong Wang, Chao Wu and Jongwon Kim, A new family of spatial 3-DOF parallel manipulators with two translational and one rotational DOFs , Robotica, Vol. 27, No. 2, pp. 241-247, 2009.
[16]Jinsong Wang, Jun Wu, Liping Wang, Zheng You. Dynamic feed-forward control of a parallel kinematic machine. Mechatronics, 19(3): 313-324, 2009.
[17]Jinsong Wang, Jun Wu, Tiemin Li and Xinjun Liu, Workspace and singularity analysis of a 3-DOF planar parallel manipulator with actuation redundancy, Robotica , Vol. 27, No. 01, pp 51-57, January 2009.
[18]Jun Wu, Jinsong Wang, Liping Wang, Tiemin Li. Dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool. Robotica, 27(1): 59-65, 2009.
[19]Jun Wu, Jinsong Wang, Liping Wang, et al., Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy, Mechanism and Machine Theory, Vol.44, No.4, pp.835-849, 2009.
[20]Jun Wu, Jinsong Wang, Liping Wang, et al., Study on the stiffness of a 5-DOF hybrid machine tool with actuation redundancy, Mechanism and Machine Theory, Vol.44, No.2, pp.289-305, 2009.
[21]Liping Wang, Jun Wu, Jinsong Wang, Zheng You. An Experimental Study of a Redundantly Actuated Parallel Manipulator for a 5-DOF Hybrid Machine Tool. IEEE Transactions on Mechatronics, 14(1): 72-81, 2009.
[22]Jun Wu, Jinsong Wang, Li-Ping Wang, et al., Dynamic formulation of redundant and nonredundant parallel manipulators for dynamic parameter identification, Mechatronics, Vol. 19, No.4, pp. 586-590, 2009.
[23]CHANG Peng, WANG JinSong, LI TieMin, LIU XinJun & GUAN LiWen, Step kinematic calibration of a 3-DOF planar parallel kinematic machine tool, Science in China Series E: Technological Sciences, Vol.51, No.12, pp.2165-2177, Dec. 2008.
[24]Stefan Staicu, Xin-Jun Liu and Jinsong Wang, Inverse Dynamics of the HALF Parallel Manipulator with Revolute Actuators, Nonlinear Dynamics, Vol.50, No.1-2, pp. 1-12, Oct. 2007.
[25]Xin-Jun Liu and Jinsong Wang, A new methodology for optimal kinematic design of parallel mechanisms, Mechanism and Machine Theory, Vol.42, No.9, pp.1210-1224, 2007.
[26]Xin-Jun Liu, Liwen Guan and Jinsong Wang, Kinematics and closed optimal design of a kind of PRRRP parallel manipulator, Journal of Mechanical Design, Vol.129, No.5, pp.558-563, 2007.
[27]Xin-Jun Liu, Jinsong Wang and Jongwon Kim, Determination of the link lengths for a spatial 3-DoF parallel manipulator, Journal of Mechanical Design, Vol. 128, pp.365-373, 2006.
[28]Xin-Jun Liu, Jinsong Wang, G. Pritschow, Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms, Mechanism and Machine Theory, Vol. 41, No.2, pp.145-169, 2006.
[29]Xiaoqiang Tang, Jinsong Wang, M Gao, Kinematic calibration of gantry hybrid machine tool based on estimation error and local measurement information, International Journal of Advanced Manufacturing Technology, Vol.26, No.4, pp.382-390, 2005
[30]Li-Ping Wang, Jinsong Wang, J. Chen, The dynamic analysis of a 2-PRR planar parallel mechanism, Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science, 219 (9): 901-909, 2005.
[31]Xin-Jun Liu, Jinsong Wang, Some new parallel mechanisms containing the planar four-bar parallelogram, International Journal of Robotics Research, 22 (9): 717-732 SEP 2003.
[32]Jinsong Wang, Xiaoqiang Tang, Analysis and dimensional design of a novel hybrid machine tool, International Journal of Machine Tool & Manufacture, Vol.43, No.7, pp.647-655, 2003.
[33]Jianfeng Li, Jinsong Wang, and Xin-Jun Liu, An Efficient Method for Inverse Dynamics of Kinematic Defective Parallel Platforms. Journal of Robotic Systems, Vol. 19, No. 2, pp. 45-61, 2002.
[34]Jinsong Wang, Wang Zhonghua, Huang Tian and D. J. Whitehouse. Nonlinearity for a parallel manipulator machine tool and its application on interpolation accuracy analysis, Science in China Series E-Technological Sciences, Vol.45, No.1, 97-105, 2002
[35]Xin-Jun Liu, Jinsong Wang, Feng Gao and Li-Ping Wang. On the Analysis of a New Spatial Three Degrees of Freedom Parallel Manipulator, IEEE Transactions on Robotics and Automation, Vol.17, No.6, pp.959-968, 2001.
[36]T. Huang, Jinsong Wang, D.J. Whitehouse, Theory and methodology for kinematics design of Gough-Stewart platform, Science in China Series E-Technological Sciences, Vol.42, No.4, 425-436, 1999.
[37]Xin-Jun Liu, Jinsong Wang, G. Pritschow, Performance atlases and optimum design of planar 5R symmetrical parallel mechanisms, Mechanism and Machine Theory, Vol.41, No.2, pp.119-144, 2006.
[38]Xin-Jun Liu, Jinsong Wang, and Hao-Jun Zheng, Optimum design of the 5R symmetrical parallel manipulator with a surrounded and good-conditioning workspace, Robotics and Autonomous Systems, Vol.54, No.3, pp 221-233, 2006.
[39]Xin-Jun Liu, XQ Tang, Jinsong Wang, HANA: a novel spatial parallel manipulator with one rotational and two translational degrees of freedom, Robotica, Vol. 23, pp.257-270, 2005.
[40]Xin-Jun Liu, Jinsong Wang, G. Pritschow, A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability, Mechanism and Machine Theory, Vol.40, No.4, pp.475-494, 2005.
[41]Jiayong Cao, Yu Zhu, Jinsong Wang, et al., A novel synchronous permanent magnet planar motor and its model for control applications, IEEE Transactions on Magnetics, Vol. 41, No.6, pp.2156-2163, 2005.
[42]Tao Chen，Pei-qing Ye, Jin-Song Wang, Local Interference Detection and Avoidance in Five-axis NC Machining of Sculptured Surfaces, International Journal of Advanced Manufacturing Technology，Vol.25, No.3-4, pp.343-349, 2005.
[43]T. Huang, DG Chetwynd, DJ Whitehouse, Jinsong Wang, A general and novel approach for parameter identification of 6-DOF parallel kinematic machines, Mechanism and Machine Theory, Vol.40, No.2, pp.219-239, 2005.
[44]J. Cao, Y. Zhu, Jinsong Wang, et al. Analysis and comparison of 2-D permanent magnet arrays for planar motor, IEEE Transactions on Magnetics，Vol.40, No.6, pp.3490-3494, 2004.
[45]XJ Liu, Jinsong Wang, QM Wang, et al., Workspace and rotational capability analysis of a spatial 3-DoF parallel manipulator, Progress in Natural Science, Vol.14, No.11, pp.996-1003, 2004.
[46]XJ Liu, Jinsong Wang, KK Oh, et al., A new approach to the design of a DELTA robot with a desired workspace, Journal of Intelligent & Robotic Systems, Vol.39, No.2, pp.209-225, 2004.
[47]XQ Tang, Jinsong Wang; H Zhang, et al., On the analysis of active reflector supporting manipulator for the large spherical radio telescope, Mechatronics, Vol.14, No.9, pp.1037-1053, 2004.
[48]Jinsong Wang, Xin-Jun Liu. Analysis of a novel cylindrical 3-dof parallel robot, Rototics and Autonomous Systems, Vol.42, No.1, pp.31-46, 2003
[49]XJ Liu, Jinsong Wang, F Gao, Workspace atlases for the design of spherical 3-DOF serial wrists, Journal of Intelligent & Robotic Systems, Vol.36, No.4, pp.389-405, 2003.
[50]XJ Liu, Jinsong Wang, and H. Zheng, Workspace atlases for the computer-aided design of the Delta robot, Proceedings of the I Mech E Part C: Journal of Mechanical Engineering Science, Vol.217, No.8, pp.861-869, 2003.
[51]L-P Wang; Jinsong Wang; Y-W Li, Y Lu. Kinematic and dynamic equations of a planar parallel manipulator, Proceedings of the I Mech E Part C: Journal of Mechanical Engineering Science, Vol.217, pp.525-531, 2003
[52]XQ Tang, Jinsong Wang, QM Wang, A study of the fitting accuracy of the active reflector for a large spherical radio telescope, Chinese Journal of Astronomy and Astrophysics, Vol.3, No.5, pp.478-490, 2003.
[53]Hua-Yun You，Pei-Qing Ye, Jin-song Wang, Xing-Yi Deng, Design and application of CBN shape grinding wheel for gears, International Journal of Machine Tools & Manufacture, Vol.43, pp.1269-1277, 2003.
[54]Xin-Jun Liu, Qi-Ming Wang, Jinsong Wang, Kinematics, dynamics and dimensional synthesis of a novel 2-DoF translational manipulator, Journal of Intelligent & Robotic Systems, Vol.41, No.4, pp.205-224, 2005.
[55]Xin-Jun Liu, Jinsong Wang, Feng Gao and Li-Ping Wang, Mechanism design of a simplified 6-DOF 6-RUS parallel manipulator, Robotica, Vol.20, No.1, pp.81-91, 2002.
[56]L-P Wang, Jin-Song Wang, P-Q Ye and L-J Wang, A theoretical and experimental investigation of thrust and torque in vibration microdrilling. Proceedings of the Institution of Mechanical Engineers Part B-Journal of Engineering Manufacture, Vol.215, No.B11, pp.1539-1548, 2001.
[57]Xin-Jun Liu, Jinsong Wang, Feng Gao, Performance atlases of the workspace for planar 3-DOF parallel manipulators, Robotica, Vol.18, No.5, pp.563-568, 2000
[58]T. Huang, Jinsong Wang, D.J. Whitehouse, Closed form solution to workspace of Hexapod-based virtual axis machine tools, Transactions of the ASME Journal of Mechanical Design, Vol.121, No.1, pp.26-31, 1999.
[59]T. Huang, Jinsong Wang, C.M. Gosselin, D.J. Whitehouse, Determination of Closed form sloution to the 2D orientation workspace of Gough-Stewart parallel manipulator, IEEE Transactions on Robotics and Automation, Vol.15, No.6, pp.1121-1125, 1999
[60]T. Huang, Jinsong Wang, D.J. Whitehouse, Closed form solution to the position workspace of Stewart parallel manipulators. Science in China Series E-Technological Sciences, Vol.41, No.4, pp.393-403, 1998


3. 部分已授权发明专利
[1]刘辛军，汪劲松，李枝东，谢福贵，一种无伴随运动的并联式三轴主轴头结构，中国发明专利，专利号：8.3，授权日：2010.11.03。
[2]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：ZL 8.4，授权日：2010.1.13。
[3]汪劲松，刘辛军，王立平，郝齐，并联式三轴主轴头结构，中国发明专利，专利号：ZL 8.2，授权日：2010.1.22。
[4]刘辛军，汪劲松，谢福贵，一种运动解耦并联式A/B轴主轴头结构，中国发明专利，专利号：ZL 5.8，授权日：2010.6.16。
[5]刘辛军，汪劲松，吴超，一种多轴联动混联机床，中国发明专利，专利号：ZL 7.8，授权日：2010.6.2。
[6]刘辛军，汪劲松，吴超，王立平，一种并联式A/B轴主轴头结构，中国发明专利，ZL 4.2，2009.3.4。
[7]刘辛军，汪劲松，吴超，张辉，段广洪，运动解耦的空间三自由度并联机构，中国发明专利， ZL 4.2，2009.1.14。
[8]汪劲松，唐晓强, 石俊山等, 滑块和伸缩轴驱动一体化运动副结构, 中国专利号：ZL**.9, 2005.
[9]汪劲松，唐晓强, 段广洪等，一种机床的新型冗余驱动并联装置，中国专利号：ZL**.X, 2005.
[10]汪劲松，段广洪，唐晓强等, 高速卧式三轴混联机床结构，中国专利号：ZL**.X, 2004.
[11]Jinsong Wang, Xin-Jun Liu, P. Ye, G. Duan, Parallel structure of a spatial 3-axis machine tool with three degree-of-freedom, US Patent (美国发明专利), US** B2, 2003.
[12]Wang Jinsong, Duan Guanghong, Tang Xiaoqiang, Ganty slide block type machine tool structure with virtal shaft driven by internal and external sets, USA Patent, NO. US**, 2002.
[13]汪劲松，刘辛军，段广洪等，两维移动两维转动四轴并联机床结构，中国发明专利, ZL **.X, 2002.
[14]汪劲松，刘辛军，段广洪等，两维移动一维转动空间三轴并联机床结构，中国发明专利, ZL**.7, 2002.
[15]汪劲松，段广洪，唐晓强等，龙门滑块式内外副混合驱动虚拟轴机床结构，中国专利号：ZL **.4, 2002.
[16]汪劲松，段广洪，杨向东等，平面双滑块三自由度虚拟轴机床结构，中国专利号：ZL **.0，2001.
[17]汪劲松, 段广洪, 杨向东等. 双八面体框架式虚拟轴机床结构，中国发明专利，ZL**.6, 2000.
[18]刘辛军, 汪劲松, 段广洪, 一种四自由度并联机器人机构, 中国发明专利, ZL **.1, 2004.
[19]刘辛军, 汪劲松, 段广洪, 一种空间三自由度并联机器人机构, 中国发明专利, ZL **.8, 2003.
[20]汪劲松，郑浩峻，杨向东等，可分解重构的多机器人移动系统的多种单元结构，中国发明专利，ZL **.X, 2002.
[21]汪劲松, 张伯鹏 ,张江红等，具有综合移动功能的五足步行载体，中国发明专利，ZL**.2，2000.
[22]汪劲松，段广洪，刘学平，向东，从富含铜的电子废料中回收金属和非金属材料的工艺，中国发明专利, ZL **.4, 2004.
[23]汪劲松, 张仕民，叶佩青等, 一种可变压缩比的微型摆式内燃机, 中国发明专利，ZL**.9, 2004.
[24]汪劲松, 朱煜, 等. 步进投影光刻机双台轮换曝光超精密定位硅片台系统, 授权号ZL**.4, 2005.
[25]汪劲松, 陈恳，王纪武等. 拟人机器人髋关节传动结构装置. 中国发明专利，ZL**.1, 2004.
[26]汪劲松，陈恳等, 拟人机器人踝关节四连杆机构传动装置, 中国发明专利，ZL**.5, 2003.
[27]汪劲松，陈恳等. 拟人机器人髋关节四连杆机构传动装置. 中国发明专利，ZL**.3, 2003.
[28]汪劲松，陈恳等. 拟人机器人踝关节传动结构装置. 中国发明专利，ZL**.X, 2003.


[1]1995/1996年，入选首批国家人事部，财政部，计委，科委，教委，中国科协，国家自然科学基金会“百，千，万跨世纪人才工程”第一，二层人选
[2]1996年，宝钢教育基金会全国优秀教师奖
[3]1997年，国家教委科技进步奖三等奖，“机器人装配应用基础研究”，第二获奖人
[4]1997年，北京市“五四”青年奖章
[5]1998年，教育部第一批
[6]1998年，国务院政府特殊津贴
[7]1999年，“VAMT1Y型虚拟轴机床”，国家教育部科技进步奖（发明类）二等奖，第一获奖人
[8]2000年，第三届通用(GM)汽车国家自然科学基金会“中国科技成就”二等奖
[9]200年，中国青年科技奖（第七届），中共中央组织部、人事部、中国科学技术协会
[10]2001年，中国机械工程学会青年科技成就奖，中国机械工程学会
[11]2001年，JWK-27/28/29型CNC系统开发及商品化研究，中国高校科技成果奖(原国家教育部科技进步奖)二等奖，第二获奖人
[12]2001年，用于彩色显像管涂屏工序的曝光台校正透镜的计算机控制制造技术，中国高校科技进步奖一等奖，第二获奖人。
[13]2004年，XK-500F型带肋钢筋轧辊月牙槽数控加工机床，机械工程科学技术进步三等奖
[14]2005年，XK-500F轧辊数控机床，北京市科技进步奖三等奖，第二获奖人
[15]2005年，XNZD2415型数控龙门混联机床，黑龙江省优秀新产品一等奖，第二获奖人
[16]2005年，《创建研究型本科教学体系 提升教育质量》，国家教学成果一等奖，第一获奖人
[17]2008年获得中国机械工业科学技术（发明类）一等奖一项，第一获奖人。
[18]2008年获得北京市科学技术三等奖一项，第一获奖人。