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基本情况

姓    名:

曲海波

职    务:

职    称:

副教授

学    历:

研究生

学    位:

博士

通信地址:

北京交通大学机电学院

邮    编:

100044

办公电话:

010-51683741

电子邮箱:

hbqu@bjtu.edu.cn

教育背景与工作经历

2002/9 - 2006/7   山东交通学院,机械设计制造及其自动化,工学学士

2006/9 - 2008/7   北京交通大学,机械设计及理论,工学硕士

2008/9 - 2013/7   北京交通大学,机械设计及理论,工学博士

2010/9 - 2012/9   法国国家信息与自动化研究所(INRIA Sophia Antipolis),COPRIN,联合培养博士生

2013/7 - 2015/8   北京交通大学,机电学院,博士后

2015/9 - 2016/12  北京交通大学,机电学院,讲师

2017/1 - 至今    北京交通大学,机电学院,副教授

研究方向及招生专业

研究方向

    机构学

    机器人技术

招生专业

    机械设计及理论(招收硕士生)

    机械工程(招收全日制硕士专业学位硕士生)

科研项目

  1. 基本科研业务费:刚柔耦合并联机器人的新型自运动特性分析及规避研究,2017.1-2018.12,主持。
  2. 国家自然科学基金(青年项目):基于冗余结构的自适应容错并联机器人设计理论研究,2016.1-2018.12,主持。
  3. 北京交通大学人才基金:冗余并联机器人容错性能研究,2015.9-2016.12,主持。
  4. 基本科研业务费:机器人智能研究平台,2015.1-2015.12,主持。
  5. 中国博士后科学基金:基于驱动冗余的飞行模拟器构型综合方法及基础理论研究,2014.1-2015.6,主持。
  6. 北京交通大学博士生创新研究基金项目:驱动冗余并联机构的构型综合与运动控制研究,2011/07-2012/07,主持。
  7. 国家自然科学基金(面上): 面向任务的全姿态飞行模拟器机构设计及控制方法研究,2015.1-2018.12,参加。
  8. 国家自然科学基金(面上):高性能冗余并联机构的设计理论和方法研究,2012.1-2015.12,参加。
  9. 国家自然科学基金(面上):基于数理逻辑的空间多环机构型综合方法研究,2011.1-2013.12,参加。



教学工作

本科课程

      机器人技术、计算机辅助三维设计

研究生课程

      柔性机构动力学

学术论文与著作

论文

期刊论文:

  1. Haibo Qu*, Sheng Guo, Ying Zhang. Kinematics analysis of a redundantly actuated 4-RUU translational parallel manipulator and its non-redundant 3-RUU counterpart.Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2017, 231(17): 3238-3249. (SCI)
  2. Haibo Qu*, Sheng Guo. Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy. Journal of Mechanical Science and Technology, 2017, 31(4):1927-1935. (SCI)
  3. Haibo Qu*, Sheng Guo, Ying Zhang. A novel relative degree-of-freedom criterion for a class of parallel manipulators with kinematic redundancy and its applications. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2016, on line, doi: 10.1177/0954406216664756. (SCI)
  4. Haibo Qu, Yuefa Fang, Sheng Guo. Structural synthesis of a class of wrist mechanisms with redundantly-actuated closed-loop units. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2016, 230(2): 276-290. (SCI: 000369047900011)
  5. Haibo Qu*, Yuefa Fang, Sheng Guo. Theory of Degrees of Freedom for Parallel Mechanisms with Three Spherical Joints and Its Applications. Chinese Journal of Mechanical Engineering, 2015, 28(4): 737-746. (SCI: 000357845700009)
  6. Haibo Qu*, Yuefa Fang, Sheng Guo and Wei Ye. A Novel 4-UPU Translational Parallel Mechanism with Fault-tolerant Configurations. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 2014, 228(16): 3006-3018. (SCI: 000344009700014)
  7. 曲海波*, 梁艺瀚, 方跃法, 周益林. 4-RRS冗余球面并联机构的静力学与刚度分析. 机械工程学报, 2015, 51(11): 8-15. (EI)
  8. Haibo Qu*, Yuefa Fang, Sheng Guo. Bennett Motion Analysis Based on Specific Regulus. International Journal of Mechanisms and Robotic Systems. 2013, 1(2/3): 170-184.
  9. 曲海波*, 方跃法, 郭盛. 新型3-UPU平移并联机构的设计与奇异分析. 高技术通讯, 2012, 22(7):741-746. (EI: 20123715424560)
  10. Haibo Qu*, Yuefa Fang, Sheng Guo. Parasitic Rotation Evaluation and Avoidance of 3-UPU Parallel Mechanism. Frontiers of Mechanical Engineering, 2012, 7(2): 210-218.
  11. Haibo Qu*, Yuefa Fang, Sheng Guo. A new method for isotropic analysis of limited DOF parallel manipulators with terminal constraints. Robotica, 2011, 29(4): 563-569. (SCI: 000292239200008)
  12. 曲海波*, 方跃法, 郭盛. 一种少自由度并联机器人雅克比分析的新方法. 北京交通大学学报, 2010, 34(4):136-140.
  13. 郭盛, 于智远, 曲海波. 轻型抓取机器人的优化设计与路径规划. 北京交通大学学报, 2017, 41(1):101-106.
  14. 郭盛, 孙振瑶, 曲海波*. 基于支链构造法的新型6-DOF并联机构构型设计. 机械工程学报, 2015, 51(17): 35-42.(EI)
  15. 黄冠宇, 方跃法,曲海波, 田春旭. 基于遗传算法的五杆机构运动性能优化. 北京交通大学学报, 2015, 39(4): 44-48.
  16. Sheng Guo, Yuefa Fang, Haibo Qu*. Type Synthesis of 4-DOF Non-overconstrained Parallel Mechanisms Based on Screw Theory. Robotica, 2012, 30(1): 31-37. (SCI: 000298547700003)
  17. Chunxu Tian, Yuefa Fang, Sheng Guo, Haibo Qu. A class of reconfigurable parallel mechanisms with five-bar metamorphic linkage. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, doi:10.1177/095440621662.
  18. Sheng Guo, Wei Ye, Haibo Qu, Dan Zhang, Yuefa Fang. A Serial of Novel Four Degrees of Freedom Parallel Mechanisms With Large Rotational Workspace. Robotica, 2016, 34(4): 764-776. ( SCI)
  19. Wei Ye, Yuefa Fang, Sheng Guo, and Haibo Qu. Type Synthesis of 2R2T Parallel Mechanisms Based on Motion Equivalent Chain Method. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2014, 228(17): 3209-3217. (SCI)
  20. 刘建, 郭盛, 曲海波. 基于系统综合性能的悬浮式物料输送系统最优设计参数研究. 中国机械工程, 2014, 25(14):1872-1877. 
  21. 郭盛, 刘烨磊, 曲海波, 张晓飞. 飞行模拟器洗出算法的改进及实现, 北京交通大学学报, 2014, 38(1):117-121.
  22. Sheng Guo, Congzhe Wang, Haibo Qu, Yuefa Fang. A novel 4-RRCR parallel mechanism based on screw theory and its kinematics analysis. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2013, 227(9):2039–2048. (SCI)
  23. Sheng Guo, Haibo Qu, Yuefa Fang, Congzhe Wang. The DOF Degeneration Characteristics of Closed Loop Over-Constrained Mechanisms. Transactions of the Canadian Society for Mechanical Engineering, 2012, 36(1): 67-82. (SCI: 000305317600005)


会议论文:

  1. Haibo Qu, Sheng Guo. Topology and Mobility Variations of a Novel Redundant Reconfigurable Parallel Mechanism. The 3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR),July 20 - 22, 2015, Beijing.
  2. Haibo Qu, Yuefa Fang, Sheng Guo. A Theory of Degrees of Freedom for Parallel Mechanisms with Three Spherical Bonds. The 3rd IFToMM Asian Conference on Mechanism and Machine Science, July 9-10, 2014,Tianjin.
  3. Haibo Qu, Yuefa Fang, Sheng Guo. Bennett motion analysis based on specific regulus. The 2nd IFToMM Symposium on Mechanism Design for Robotics, October 12-14, 2012, Beijing.
  4. Haibo Qu, Yuefa Fang, Sheng Guo. Motion Analysis of an Oriented Parallel Mechanism. Proceedings of the 2012 Third International Conference on Mechanic Automation and Control Engineering, July 27th-29th, Inner Mongolia, China, pp.1610-1614.
  5. Haibo Qu, Yuefa Fang, Sheng Guo. Parasitic Rotation Evaluation of 3-UPU Parallel Mechanism. The 2nd IFToMM International Symposium on Robotics and Mechatronics, November 3-5, 2011, Shanghai.
  6. Haibo Qu, Yuefa Fang, Naiyue Wang. Singularity Evaluation and Avoidance in Motion Control Process of Parallel Robots. Proceedings of the 3rd ICMEM International Conference on Mechanical Engineering and Mechanics, October 21−23, 2009,Beijing,China, pp. 585-591.
著作
  1. 郭盛曲海波. 冗余并联机器人构型综合与应用. 北京:科学出版社2016.7
专利
  1. 曲海波, 张程煜, 张传亮, 郭盛. 一种相对自由度为四的结构冗余并联机器人机构, 发明专利, 201710470323.0
  2. 曲海波, 张传亮, 郭盛. 一种具有两转动一移动的结构冗余并联机构, 发明专利, 201710265972.7
  3. 曲海波, 张传亮, 于智远, 郭盛. 一种驱动冗余的并联机床本体, 发明专利, 201710153905.6
  4. 曲海波, 于智远, 张传亮, 郭盛. 一种具有并联腿部结构的双足步行机器人机构, 发明专利, 201710033669.4
  5. 曲海波, 于智远, 郭盛, 方跃法. 一种具有全周运动的快速抓取机器人, 发明专利, 201610103784.X
  6. 曲海波, 方跃法, 郭盛, 叶伟. 一种冗余驱动的三自由度平移型并联机器人机构, 发明专利, 201210533432.X
  7. 曲海波, 陈欢, 方跃法, 郭盛. 一种冗余驱动的运动模拟器, 发明专利, 201310066069.X
  8. 郭盛, 曲海波, 方跃法. 内置并联机构型电厂落煤斗防堵装置, 发明专利, 200810224284.7

社会兼职

  1. 北京知识产权法院人民陪审员