姓名： 孙涛
性别： 男
英文名： SUN Tao
人才称号：
职称： 教授、硕士生导师、博士生导师
职务： 副院长 专业： 机械设计及理论
所在机构： 机构理论与装备设计教育部重点实验室 个人主页： http://me.tju.edu.cn/faculty_teachers.action?cla=5&teacherid=1879
邮箱： stao@tju.edu.cn 办公地点： 天津大学北洋园校区37楼
传真： 办公电话：
主要学历： 2008.09 - 2012.01，天津大学，机械设计及理论专业，研究生，获工学博士学位
2006.09 - 2008.07，天津大学，机械设计及理论专业，研究生，获工学硕士学位


主要学术经历： 2018.05–至 今，天津大学机械工程学院，副院长
2018.01–至 今，机构理论与装备设计教育部重点实验室，副主任
2017.08–2018.02，天津市和平区科学技术委员会，主任助理、副主任
2017.06–至 今，天津大学机械工程学院，教授、博士生导师
2015.06–2017.06，天津大学机械工程学院，副教授、硕士生导师
2012.03–2015.06，天津大学，机械工程学院机械工程系，讲师


主要研究方向： 1.机构学与高性能工业机器人
2.骨科手术与康复医疗机器人
3.机械智能与特种机器人


主要讲授课程： 机械设计基础（本科生48学时）


主要学术兼职： 1.国际机构与机器科学联合会（IFToMM）计算运动学技术委员会，委员
2.电气和电子工程师协会（IEEE），高级会员（Senior Member）
3.英国机械工程师协会会刊Journal of Mechanical Engineering and Science（SCI、IF=1.359），副主编
4.International Journal of Advanced Robotics Systems（SCI、IF=1.223），副主编
5.《机械设计》，特邀副主编、编委
6.《机器人技术与应用》杂志，编委
7.中国机械工程学会机器人分会第一届委员会，委员
8.中国机械工程学会机械设计分会第八届委员会，委员


主要学术成就： 长期从事机构学与机器人学方面的教学科研工作，主持国家重点研发计划、国家科技重大专项、国家自然科学基金等国家/省部级科研项目15项，研究经费超过3000万元，第一作者出版Springer英文专著1部，第一/通讯作者在IEEE TRO、IEEE TMECH、IEEE TIE等高水平期刊发表SCI论文42篇，他引1000余次，第一发明人授权国际发明专利/PCT专利/软件著作权40项。获得奖励如下：
2019.10，天津市中青年科技创新领军人才
2019.10，天津市优秀科技工作者
2019.07，第十五届IFToMM世界大会，最佳论文奖，第一/通讯
2018.12，第一届中国机器人学术年会，最佳海报奖，第一
2018.12，天津大学北洋青年****
2018.09，天津市青年科技优秀人才
2018.08，中国机构与机器科学国际会议，最佳论文奖，第一/通讯
2018.07，第八届全国大学生机械创新设计大赛天津赛区，一等奖，指导教师
2018.07，第八届全国大学生机械创新设计大赛，二等奖，指导教师
2017.11，机械设计国际会议暨第19届机械设计年会，最佳论文奖，第一/通讯
2017.11，第十五届“挑战杯”全国大学生课外学术科技作品竞赛，二等奖，指导教师
2017.07，第十四届“挑战杯”天津市大学生课外学术科技作品竞赛，特等奖，优秀指导教师
2017.05，天津大学第二十三届“十佳****教工”
2016.08，国家自然科学基金委机械学科，优秀结题项目（10/1031），负责人
2015.12，天津市普通高等学校本科生优秀毕业设计（论文），指导教师
2015.06，第九届京津冀本科毕业设计大赛一等奖第一名，指导教师
2014、2015，天津大学本科毕业设计论文，优秀指导教师


主要科研项目： 1.国家重点研发计划项目，2018YFB**，下肢骨折精准复位手术与量化康复一体化机器人系统，2019.06–2022.05，2341万元，在研，主持
2.国防科技创新特区项目，18-163-12-ZT-004-061-01，******机器人的仿生设计、感知识别与智能控制，2018.12–2020.12，200万元，在研，主持
3.天津市新一代人工智能科技重大专项，18ZXZNGX00350，面向卫星大部组件装配的机器人系统研制与应用，2018.10–2021.09，37.5万元，在研，主持
4.国防科技创新特区项目课题，17-163-12-ZT-004-017-01，湿地环境下的高通过性仿生运动机构研究，2018.10–2018.12，30万元，结题，主持
5.天津市重点研发计划科技支撑重点项目，18YFZCSF00590，高危污染场地调查环保机器人设计构建技术开发，2018.04–2021.03，50万元，在研，主持
6.国家自然科学基金面上项目，**，欠驱动连续型刚柔耦合并联指机构的综合方法与设计理论研究，2017.01–2020.12，63万元，在研，主持
7.国家科技重大专项，2017ZX**，新发突发传染病现场应急防控机动装备研发及示范应用，2017.01–2020.12，54万元，在研，主持
8.天津市应用基础与前沿技术研究计划面上项目，16JCYBJC19300，基于有限旋量的并联机构拓扑构型综合与优选方法研究，2016.04–2019.03，10万元，已结题，主持
9.装备预研生物交叉技术预研项目，**，基于眼球运动机理的仿生型快速精准随动系统研究，2015.06–2016.06，10万元，已结题，主持
10.军事医学科学院预研项目，**，3D打印在卫生装备中的应用及其关键技术研究，2015.06–2016.06，10万元，已结题，主持
11.天津市应用基础与前沿技术研究计划青年项目，13JCQNJC04600，少自由度并联机构运动学性能传递机理及其评价指标研究，2013.04–2016.03，6万元，已结题，主持
12.国家自然科学基金青年科学基金项目，**，面向飞机部件级对接的全对称四自由度并联机构设计理论与关键技术研究，2013.01–2015.12，25万元，已结题，主持
13.教育部博士点基金，03，并联机构广义性能评价指标构建及奇异性分析研究，2013.01–2015.10，4万元，已结题，主持
14.欧盟第七框架项目，FP7-PEOPLE-2012-IRESE 318971，ECROBOT-Europen and Chinese Platform for Robotics and Applications，2013.01–2015.12，5万欧元，已结题，执行负责人
15.天津工业大学横向委托项目，JG2012-147-D128-09，并联机构实验装置，2012.05–2013.03，55万元，已结题，主持


代表性论著： A.学术专著
1.Tao Sun, Shuofei Yang, Binbin Lian, Finite and Instantaneous Screw Theory in Robotic Mechanism, Publisher: Springer, Singapore, ISBN: 978-981-15-1943-7, 2020, 404 pages. [DOI: https://doi.org/10.1007/978-981-15-1944-4]

B.第一/通讯作者SCI论文（*为通讯作者）
1.Tao Sun, Chaoyu Liu, Binbin Lian, Panfeng Wang, Yimin Song*, Calibration for precision kinematic control of an articulated serial robot, IEEE Transactions on Industrial Electronics, 2020, In Press, DOI: 10.1109/TIE.2020.**. (IF=7.503)
2.Tao Sun, Binbin Lian*, Shuofei Yang, Yimin Song, Kinematic calibration of serial and parallel robots based on finite and instantaneous screw theory, IEEE Transactions on Robotics, 2020, 36(3): 816-834. (IF=6.483)
3.Tao Sun, Yuanlong Chen, Tianyu Han, Chenlei Jiao, Binbin Lian*, Yimin Song, A soft gripper with variable stiffness iInspired by pangolin scales, toothed pneumatic actuator and autonomous controller, Robotics and Computer-Integrated Manufacturing, 2020, 61: 1-12.（IF=4.392）
4.Tao Sun, Shuofei Yang*, An approach to formulate the Hessian matrix for dynamic control of parallel robots, IEEE/ASME Transactions on Mechatronics, 2019, 24(1): 271-281.（IF=4.943）
5.Tao Sun, Binbin Lian*, Yimin Song, Lei Feng, Elasto-dynamic optimization of a 5-DoF parallel kinematic machine considering parameter uncertainty, IEEE/ASME Transactions on Mechatronics, 2019, 24 (1): 315-325.（IF=4.943）
6.Tao Sun, Binbin Lian*, Stiffness and mass optimization of parallel kinematic machine, Mechanism and Machine Theory, 2018, 120: 73-88.（IF=3.535）
7.Dong Liang, Yimin Song, Tao Sun*, Xueying Jin, Dynamic modeling and hierarchical compound control of a novel 2-DOF flexible parallel manipulator with multiple actuation modes, Mechanical Systems and Signal Processing, 2018, 103: 413-439.（IF=5.005）
8.Tao Sun, Dong Liang*, Yimin Song, Singular-perturbation-based nonlinear hybrid control of redundant parallel robot, IEEE Transactions on Industrial Electronics, 2018, 65(4): 3326-3336.（IF=7.503）
9.Yang Qi, Tao Sun*, Yimin Song, Multi-objective optimization of parallel tracking mechanism considering parameter uncertainty, ASME Trans. Journal of Mechanisms and Robotics, 2018, 10(4): 041006 (12 pages).（IF=2.233）
10.Tao Sun*, Shuofei Yang, Tian Huang, Jian S. Dai, A finite and instantaneous screw based approach for topology design and kinematic analysis of 5?axis parallel kinematic machines, Chinese Journal of Mechanical Engineering, 2018, 31-44. （IF=1.413）
11.Tao Sun, Xinming Huo*, Type synthesis of 1T2R parallel mechanisms with parasitic motions, Mechanism and Machine Theory, 2018, 128: 412-428.（IF=3.535）
12.Tao Sun, Binbin Lian*, Jiateng Zhang, Yimin Song, Kinematic calibration of a 2-DoF over-constrained parallel mechanism using real inverse kinematics , IEEE Access, 2018, 6: 67752-67761.（IF=4.098）
13.Tao Sun, Panfeng Wang, Binbin Lian*, Yapu Zhai, Sida Liu, Geometric accuracy design and error compensation of a 1-translational and 3-rotational parallel mechanism with articulated travelling plate, Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 2018, 232(12): 2083-2097.（IF=1.752）
14.Tao Sun, Shuofei Yang, Tian Huang*, Jian S Dai, A way of relating instantaneous and finite screws based on the screw triangle product, Mechanism and Machine Theory, 2017, 108: 75-82.（IF=3.535）
15.Binbin Lian, Tao Sun*, Yimin Song, Parameter sensitivity analysis of a 5-DoF parallel manipulator, Robotics and Computer-Integrated Manufacturing, 2017, 46: 1-14.（IF=4.392）
16.Shuofei Yang, Tao Sun*, Tian Huang, Type synthesis of parallel mechanisms having 3T1R motion with variable rotational axis, Mechanism and Machine Theory, 2017, 109: 220-230.（IF=3.535）
17.Xinming Huo, Tao Sun*, Yimin Song, Yang Qi, Panfeng Wang, An analytical approach to determine motions/constraints of serial kinematic chains based on Clifford algebra, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2017, 231 (7): 1324–1338.（IF=1.359）
18.Dong Liang, Yimin Song, Tao Sun*, Xueying Jin, Rigid-flexible coupling dynamic modeling and investigation of a redundantly actuated parallel manipulator with multiple actuation modes, Journal of Sound and Vibration, 2017, 403: 129-151.（IF=3.123）
19.Dong Liang, Yimin Song, Tao Sun*, Nonlinear dynamic modeling and performance analysis of a redundantly actuated parallel manipulator with multiple actuation modes based on FMD theory, Nonlinear Dynamics, 2017, 89(1): 391-428.（IF=4.604）
20.Xinming Huo, Tao Sun*, Yimin Song, A Geometric Algebra Approach to Determine Motion/Constraint, Mobility and Singularity of Parallel Mechanism, Mechanism and Machine Theory, 2017, 116: 273-293.（IF=3.535）
21.Yang Qi, Tao Sun*, Yimin Song, Type synthesis of parallel tracking mechanism with varied axes by modeling its finite motions algebraically, ASME Trans. Journal of Mechanisms and Robotics, 2017, 9(5): 054504-1-054504-6.（IF=2.233）
22.Tao Sun, Xu Xiang, Weihua Su, Hang Wu, Yimin Song*, A transformable wheel-legged mobile robot: Design, analysis and experiment, Robotics and Autonomous Systems, 2017, 98: 30–41.（IF=2.928）
23.Tao Sun, Hao Wu, Binbin Lian*, Yang Qi, Panfeng Wang, Stiffness modeling, analysis and evaluation of a 5 degree of freedom hybrid manipulator for friction stir welding, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2017, 231(23): 4441-4456.（IF=1.359）
24.Yimin Song, Jiateng Zhang, Binbin Lian, Tao Sun*, Kinematic Calibration of a 5-DoF Parallel Kinematic Machine, Precision Engineering, 2016, 45: 242-261.（IF=2.685）
25.Binbin Lian, Tao Sun*, Yimin Song, Xiaoli Wang, Passive and active gravity compensation of horizontally-mounted 3-RPS parallel kinematic machine, Mechanism and Machine Theory, 2016, 190-201.（IF=3.535）
26.Gang Dong, Tao Sun*, Yimin Song, Hao Gao, Binbin Lian, Mobility analysis and kinematic synthesis of a novel 4-DoF parallel manipulator, Robotica, 2016, 34(5): 1010-1025.（IF=1.184）
27.Shuofei Yang, Tao Sun*, Tian Huang, Qinchuan Li, Dongbing Gu, A finite screw approach to type synthesis of three-DOF translational parallel mechanisms, Mechanism and Machine Theory, 2016, 104: 405-419.（IF=3.535）
28.Tao Sun, Yapu Zhai, Yimin Song*, Jiateng Zhang, Kinematic calibration of a 3-DoF rotational parallel manipulator using laser tracker, Robotics and Computer-Integrated Manufacturing, 2016, 41: 78-91.（IF=4.392）
29.Tao Sun, Binbin Lian, Yimin Song*, Stiffness analysis of a 2-DoF over-constrained RPM with an articulated traveling platform, Mechanism and Machine Theory, 2016, 96: 165-178.（IF=3.535）
30.Dong Liang, Yimin Song, Tao Sun*, Gang Dong, Optimum design of a novel redundantly actuated parallel manipulator with multiple actuation modes for high kinematic and dynamic performance, Nonlinear Dynamics, 2016, 83: 631-658.（IF=4.604）
31.Yimin Song, Gang Dong, Tao Sun*, Binbin Lian, Elasto-dynamic analysis of a novel 2-DoF rotational parallel mechanism with an articulated travelling platform, Meccanica, 2016, 51: 1547-1557.（IF=2.316）
32.Yimin Song, Yang Qi, Gang Dong, Tao Sun*, Type synthesis of 2-DoF rotational parallel mechanisms actuating the inter-satellite link antenna, Chinese Journal of Aeronautics, 2016, 29(6): 1795-1805.（IF=2.095）
33.Binbin Lian, Tao Sun*, Yimin Song, Yan Jin, Price Mark, Stiffness analysis and experiment of a novel 5-DoF parallel kinematic machine considering gravitational effects, International Journal of Machine Tools & Manufacture, 2015, 95: 82-96.（IF=6.039）
34.Tao Sun, Yimin Song*, Hao Gao, Yang Qi, Topology synthesis of a 1T3R parallel manipulator with an articulated traveling plate, ASME Trans. Journal of Mechanisms and Robotics, 2015, 7(3): 310151-310159. （IF=2.233）
35.Yang Qi, Tao Sun*, Yimin Song, Yan Jin, Topology synthesis of three-legged spherical parallel manipulators employing Lie group theory, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2015, 229(10): 1873-1886.（IF=1.359）
36.Yimin Song, Binbin Lian, Tao Sun*, Gang Dong, Yang Qi, Hao Gao, A novel five-degree-of-freedom parallel manipulator and its kinematic optimization, ASME Trans. Journal of Mechanisms and Robotics, 2014, 6(4): 410081-410089.（IF=2.233）
37.Yimin Song, Hao Gao, Tao Sun*, Gang Dong, Binbin Lian, Yang Qi, Kinematic analysis and optimal design of a novel 1T3R parallel manipulator with an articulated travelling plate, Robotics and Computer-Integrated Manufacturing, 2014, 30(5): 508-516.（IF=4.392）
38.Tao Sun, Yimin Song*, Gang Dong, Binbin Lian, Jianping Liu, Optimal design of a parallel mechanism with three rotational degrees of freedom, Robotics and Computer-Integrated Manufacturing, 2012, 28(4): 500-508.（IF=4.392）
39.Tao Sun, Yimin Song*, Yonggang Li, Liang Xu, Separation of comprehensive geometrical errors of a 3-dof parallel manipulator based on Jacobian matrix and its sensitivity analysis with Monte-Carlo method, Chinese Journal of Mechanical Engineering (English Edition), 2011, 24(3): 406-413.（IF=1.413）
40.Tao Sun, Yimin Song*, Kai Yan, Kineto-static analysis of a novel high-speed parallel manipulator with rigid-flexible coupled links, Journal of Central South University of Technology (English Edition), 2011, 18(3): 593-599.（IF=0.761）
41.Tao Sun, Yimin Song*, Yonggang Li, Jun Zhang, Workspace decomposition based dimensional synthesis of a novel hybrid reconfigurable robot, ASME Trans. Journal of Mechanisms and Robotics, 2010, 2(3): 310091-310098.（IF=2.233）
42.Tao Sun, Yimin Song*, Yonggang Li, Linshan Liu, Dimensional synthesis of a 3-DOF parallel manipulator based on dimensionally homogeneous Jacobian matrix, Science China-Technological Sciences, 2010, 53(1): 168-174.（IF=2.18）

C.第一/通讯作者国际会议论文（*为通讯作者）
1.Tao Sun, Xinming Huo, Panfeng Wang, Yimin Song, Configuration Evolution Method of Stewart Platform Based on Finite Screw Theory, The 15th IFToMM World Congress, June 30-July 4, 2019, Krakow, Poland.（Best Paper Award）
2.Tao Sun, shuofei Yang, Finite Motion Analysis of Four-revolute Closed-loop Mechanisms Applied in Industrial Robots and Origami Structures, The 2018 International Conference on China Mechanisms and Machinery Science (CCMMS2018), Beijing, China, Aug. 2018. （Best Paper Award）
3.Tao Sun, Shuofei Yang, Tain Huang, Jian S. Dai. A Generalized and Analytical Method to Solve Inverse Kinematics of Serial and Parallel Mechanisms Using Finite Screw Theory, 7th International Workshop on Computational Kinematics, Univ Poitiers, Fundamental & Appl Sci Fac, FRANCE, May, 2017.
4.Tao Sun*, Shuofei Yang, Tian Huang, and Jiansheng. Dai. A Finite and Instantaneous Screw Based Approach for Topology Design and Kinematic Analysis of 5-Axis Parallel Kinematic Machines, 2017 International Conference of Mechanical Design & The 19th Annual Conference on Mechanical Design (ICMD 2017), Beijing, China, Nov, 2017. (WOS:021，IDS号: GJ8JY, EI：20**2) （Best Paper Award）
5.Tao Sun, Hao Wu, Binbin Lian, Panfeng Wang, Yimin Song*, Stiffness modeling of parallel manipulator with articulated traveling plate, THE 4th IFToMM Asian Conference on Mechanism and Machine Science, Guangzhou, China, 15-17 December, 2016.
6.Wanzhen Li, Tao Sun*, Xinming Huo, Yiming Song, CGA Approach to Kinematic Analysis of a 2-DoF Parallel Positioning Mechanism, Proceedings of the ASME 2016 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference，Charalotte, North Carolina, America, 21-24 August, 2016.
7.Yimin Song, Yang Qi, Tao Sun*, Conceptual design and kinematic analysis of a novel parallel manipulator with an articulated gripping platform, The 3rd IEEE/IFToMM International Conference on Recofigurable Mechanisms and Robots, Beijing, China, 20-22 July, 2015.
8.Yimin Song, Yapu Zhai, Jiateng Zhang, Tao Sun*, Guoguang Jin, Jian S Dai, Geometrical error modeling and parameter identification of a 3-DoF rotational parallel manipulator with screw theory, 2014 IFToMM Asian Conference on Mechanism and Machine Science, Tianjin, China, 7-9 July, 2014.
9.Yimin Song, Yang Qi, Tao Sun*, Yan Jin, Dayou Li, Topology design and kinematic optimization of a 2-DoF U-joint parallel manipulator with large rotation angles, 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Tianjin, China, 7-9 July, 2014.
10.Gang Dong, Yimin Song, Tao Sun*, Binbin Lian, Elasto-dynamic analysis of a novel 2-DoF rotational parallel mechanism with an articulated travelling plate, 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, , Tianjin, China, 7-9 July, 2014.
11.Tao Sun, Yimin Song*, Kai Yan, Gang Dong, Elasto-dynamic modelling of a novel high-speed parallel manipulator with string-parallelogram mechanism, The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, 19-21 June, 2011.
12.Tao Sun, Yimin Song*, Yonggang Li, Jun Zhang, Stiffness estimation for the 4-DOF hybrid module of a novel reconfigurable robot, The 1st International Conference on Recofigurable Mechanisms and Robots, London, UK, 22-24 June, 2009.
13.Tao Sun, Yimin Song*, Liang Xu, Accuracy synthesis of a 3-PRS parallel manipulator based on genetic algorithms, 2009 International Conference on Manufacturing Science and Engineering (ICME 2009), Zhuhai, P.R. China, 26-28 December, 2009.
14.Tao Sun, Yimin Song*, Comparison between a 4-DOF hybrid module and Tricept module focusing on inverse kinematics and stiffness, 2009 IEEE International Conference on Robotics and Biomimetics, Guilin, P.R. China, 19-23 December, 2009.

D.第一/通讯作者中文期刊论文（*为通讯作者）
1.孙涛, 闫巍, 孙振辉, 张弢, 宋轶民, 马信龙, 连宾宾, 外固定支架模型重建软件开发与安装参数识别研究, 天津大学学报(自然科学与工程技术版), 2020 53(6): 593-600.
2.李斌, 孙涛*, 宋轶民, 刘建平, 多排行星齿轮动力耦合器的构型综合方法, 天津大学学报(自然科学与工程技术版), 2016, 49(1).
3.宋轶民, 翟亚普, 孙涛*, 李金和, 张嘉滕, 基于区间分析的一类三转动自由度并联机构的精度设计, 北京工业大学学报,2015, 41(11). 1620-1626.
4.杨朔飞, 孙涛*, 黄田, 戴建生, 线变换刚体运动矩阵的群表示方法, 机械工程学报, 2015, 51(13): 81-85.
5.田润, 宋轶民, 孙涛*, 向旭, 一种新型轮腿式移动机器人的参数设计与实验研究, 机器人, 2015, 37(5): 538-545.
6.宋轶民, 王晓丽, 连宾宾, 孙涛*, 一种1T2R卧式布局并联机构的重力补偿策略, 天津大学学报(自然科学与工程技术版), 2015, 48(7): 596-604.
7.宋轶民, 翟学东, 孙涛*, 董罡, 连宾宾, 一种三自由度冗余驱动并联模块的刚度分析, 天津大学学报(自然科学与工程技术版), 2015, 48(1): 25-32.
8.宋轶民, 张嘉滕, 孙涛*, 董罡, 一种1T2R并联动力头的运动学分析与优化设计, 天津大学学报(自然科学与工程技术版), 2014, 47(10): 863-870.
9.宋轶民, 程航, 孙涛*, 李祺, 董罡, 李金和, 并联机构转动副滚动轴承静刚度参数辨识, 天津大学学报(自然科学与工程技术版), 2014, 47(12): 1102-1108.
10.孙涛, 宋轶民, 黄田*, 一类平转耦合并联机构运动学性能的评价方法, 中国科学: 信息科学, 2012, 42(9): 1081-1090.
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