姓名： 宋轶民
性别： 男
英文名： Song Yimin
人才称号：
职称： 教授、博导
职务： 专业： 机械设计及理论
所在机构： 机械工程系、制造装备与系统研究所 个人主页：
邮箱： ymsong@tju.edu.cn 办公地点： 天津大学机械工程学院,300072
传真： +86(0) 办公电话： +86(0)
主要学历： 1989.09-1993.07 天津大学机械制造工艺及设备专业、技术经济专业，本科生，获工学(双)学士学位
1993.09-1996.03 天津大学机械学专业，研究生，获工学硕士学位
1996.03-1999.03 天津大学机械设计及理论专业，研究生，获工学博士学位


主要学术经历： 1999.04-2001.04 北京工业大学机械工程流动站，博士后
2001.05-至今 天津大学机械工程学院机械工程系，副教授(2001.07)，硕导(2002.12)，教授(2009.06)，博导(2009.12)
2008.03-2008.05 英国Warwick大学，高级访问****


主要研究方向： 1. 机器人机构学
2. 机械动力学
3. 机械传动


主要讲授课程： 机械设计 (本科生 64学时)


主要学术兼职： 中国机械工程学会高级会员、机械传动分会委员、机构学专业委员会委员
天津市机械工程学会常务副理事长
《机械传动》《机械设计》杂志编委
华北地区机械原理教学研究会秘书长


主要学术成就： 主持/参加国家及省部级科研项目20余项，发表学术论文近百篇，授权中国发明专利20余件，获省部级科技奖励2项、省部级教学成果奖2项。
2002 天津市自然科学二等奖
2003 美国联合技术公司容闳科技教育奖
2009 天津市级教学成果一等奖
2012 天津市教育系统“教工先锋岗”先进个人
2013 天津市级教学成果二等奖
2013 中国机械工业科学技术(技术发明)一等奖
2013 天津市五一劳动奖章


主要科研项目： 1. 星间链路天线并联精准角跟踪机构设计理论与关键技术研究, 国家自然科学基金面上项目, 86万, 2015.01-2018.12, 项目负责人
2. 中继卫星链路天线并联角跟踪机构的设计方法与控制策略, 天津市应用基础与前沿技术研究计划重点项目, 20万, 2015.04-2018.03, 项目负责人
3. 一类新型高刚度姿态调整机构的优化设计理论与方法, 高等学校博士学科点专项科研基金课题, 12万, 2013.01-2015.12, 第一完成人
4. 新型五坐标混联动力头设计理论与关键技术研究, 国家自然科学基金面上项目, 40万, 2011.01-2013.12, 第一完成人
5. 新型五坐标混联动力头设计理论与关键技术研究, 天津市应用基础与前沿技术研究计划重点项目, 20万, 2011.04-2014.03, 第一完成人
6. 摩擦叠焊并联机器人, 北京石油化工学院, 175万, 2010.06-2012.06, 第一完成人
7. 新型五坐标可重构模块设计与试验, 安徽巨一自动化装备有限公司, 35万, 2008.04-2008.12, 第一完成人
8. 新型五坐标可重构作业单元关键技术, 国家863计划重点项目课题, 390(195)万, 2007.08-2010.07, 天津大学负责人(与安徽巨一自动化装备有限公司、江淮汽车集团合作)
9. 含刚柔混合支链的高速并联机械手的结构学原理与动态设计, 国家自然科学基金面上项目, 29万, 2007.01-2009.12, 第一完成人
10. 环板式行星分度凸轮机构的理论与实验研究, 教育部科学技术研究重点项目, 10万, 2007.01-2009.12, 第一完成人
11. 少自由度并联机构创新与系统集成设计, 国家自然科学基金重点项目, 290万, 2012.01-2016.12, 主要参加人(与清华大学、浙江理工大学合作)
12. 现代机构创新及机械系统动态优化设计理论与方法的研究, 国家自然科学基金重点项目, 200(80)万, 2006.01-2009.12, 主要参加人(与东北大学、哈尔滨工业大学合作)


代表性论著： SCI检索论文：
[1] 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.
[2] 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(7): 1547-1557.
[3] Yimin Song, Jiateng Zhang, Binbin Lian, Tao Sun, Kinematic calibration of a 5-DoF parallel kinematic machine, Precision Engineering, 2016, 45: 242-261.
[4] 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(1-2): 631-658.
[5] 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.
[6] 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, 104: 190-201.
[7] 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.
[8] 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.
[9] Shuaishuai Jia, Yimin Song, Elastic dynamic analysis of synchronous belt drive system using absolute nodal coordinate formulation, Nonlinear Dynamics, 2015, 81(3): 1393-1410.
[10] Tao Sun, Yimin Song, Hao Gao, Yang Qi, Topology synthesis of a 1-Translational and 3-Rotational parallel manipulator with an articulated traveling plate, ASME Trans. Journal of Mechanisms and Robotics, 2015, 7(3): 031015-1 (9 pages).
[11] 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.
[12] Binbin Lian, Tao Sun, Yimin Song, Yan Jin, Mark Price, 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.
[13] 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.
[14] 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): 041008-1 (9 pages).
[15] 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.
[16] 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.
[17] 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.
[18] 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): 031009-1 (8 pages).
[19] 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.
国际会议论文：
[20] Wanzhen Li, Tao Sun, Xinming Huo, Yimin Song, CGA approach to kinematic analysis of a 2-DoF parallel positioning mechanism, In: Proceedings of the ASME 2016 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Charlotte, North Carolina, America, August 21-24, 2016.
[21] Dong Liang, Yimin Song, Tao Sun, Gang Dong, Binbin Lian, Dynamic modeling and performance analysis of a redundantly actuated 2-DOF parallel manipulator, In: 8th International Conference on Intelligent Robotics and Applications, Portsmouth, United Kingdom, August 24-27, 2015.
[22] Yimin Song, Yang Qi, Tao Sun, Conceptual design and kinematic analysis of a novel parallel manipulator with an articulated gripping platform, In: The 3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Beijing, China, July 20-22, 2015.
[23] Yimin Song, Yapu Zhai, Jiateng Zhang, Tao Sun, Error modeling and parameter identification of a 3-DoF rotational parallel manipulator with screw theory, In: 2014 IFToMM Asian Conference on Mechanism and Machine Science, Tianjin, China, July 9-10, 2014.
[24] 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, In: 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Tianjin, China, July 7-8, 2014.
[25] Gang Dong, Yimin Song, Tao Sun, Binbin Lian, Elasto-dynamic analysis of a novel 2-DoF rotational parallel mechanism with an articulated travelling plate, In: 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Tianjin, China, July 7-8, 2014.
[26] Gang Dong, Yimin Song, Tao Sun, Hao Gao, Topology and inverse kinematics analysis of a novel 4 DOF parallel robot, In: 2nd IFToMM Symposium on Mechanism Design for Robotics, Beijing, China, October 12-14, 2012.
[27] Binbin Lian, Yimin Song, Gang Dong, Tao Sun, Yang Qi, Dimensional synthesis of a planar parallel manipulator for pick-and-place operations based on rigid-body dynamics, In: 5th International Conference on Intelligent Robotics and Applications, Montreal, Canada, October 3-5, 2012.
[28] Gang Dong, Yimin Song, Tao Sun, Type synthesis of planar parallel mechanism incorporating actuated limb with zero/one constraint with set conception, In: 2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Tianjin, China, July 9-11, 2012.
[29] Meng Guan, Yimin Song, Tao Sun, Gang Dong, Kinematic and singularity analysis of a novel 4-DOF parallel manipulator, The 2nd International Conference on Engineering Design and Optimization, Ningbo, China, August 19-21, 2011.
[30] Tao Sun, Yimin Song, Kai Yan, Gang Dong, Elasto-dynamic modeling of a novel high-speed parallel manipulator with string-parallelogram mechanism, In: The 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, June 19-25, 2011.
中文期刊论文：
[31] 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.
[32] 宋轶民, 王晓莉, 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, 2015, 48(7): 596-604.
[33] 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, 2015,.48(1): 25-32.
[34] 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(邀请论文), 北京工业大学学报, 2015, 41(11): 1620-1626.
[35] 潘伯钊, 宋轶民, 王攀峰, 董罡, 孙涛, 基于激光跟踪仪的混联机器人快速零点标定方法, 机械工程学报, 2014, 50(1): 31-37.
[36] 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, 2014, 47(12): 1101-1108.
[37] 宋轶民, 张嘉滕, 孙涛, 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, 2014, 47(10): 863-870.
[38] 宋轶民, 申贞, 董罡, 孙涛, 一种球坐标型并联机构的弹性动力学分析, 天津大学学报, 2014, 47(5): 401-407.
[39] 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.
[40] 孙涛, 宋轶民, 李永刚, 董罡, 一类四自由度混联可重构主模块的全域静刚度预估, 天津大学学报, 2010, 43(11): 1003-1008.