机械工程系

Dept of Mechanical Engineering

Xin-Jun Liu, Professor

Work Phone:+86 10 62789211

E-mail: xinjunliu@mail.tsinghua.edu.cn

Office location:Room A915, Lee Shau Kee Science and Technology Building, Tsinghua University 100084

Education background

Ph.D., Robotics Research Center, Yanshan University, Qinhuangdao, P.R. of CHINA, 1999.12

Sc.M., Robotics Research Center, Yanshan University, Qinhuangdao, P.R. of CHINA, 1996.9

B.Tech., Yanshan University, Qinhuangdao, P.R. of CHINA, 1994.7

Experience

2013.1- Present,  Professor, Dept. of Mechanical Engineering, Tsinghua University.

2011.12-2012.12, Professor, Department of Precision Instruments and Mechanology, Tsinghua University.

2005.3-2011.11, Associate Professor, Department of Precision Instruments and Mechanology, Tsinghua University.

2004.3-2005.4, Alexander von Humboldt (AvH) research fellow, ISW, University of Stuttgart, Germany.

2002.3-2003.11, Visiting Researcher, Robust Design Engineering Lab, Seoul National University, Korea.

2000.1-2002.1, Post-doctoral Researcher, Manufacturing Engineering Institute, Department of Precision Instruments and Mechanology, Tsinghua University.

Concurrent Academic

[1] 2016.9- present, Associate Editor of “Mechanism and Machine Theory”.

[2] 2011, 2012, 2013, Associate Editor of the IEEE International Conference on Robotics and Automation (ICRA).

[3] 2012-present , Editorial committee member of “Frontiers of Mechanical Engineering”

[4] 2008-present, Editorial committee member of “Romanian journal UPB Scientific Bulletin, Series D: Mechanical Engineering”.

[5] 2012, Program Board of IEEE International Conference on Mechatronics and Automation, Chengdu, China.

[6] 2009, 2010, Program Board of the IEEE International Conference on Information and Automation.

[7] 2008, Program Board of the IEEE International Conference on Robotics and Biomimetics (ROBIO2008).

[8] 2011, Organizer of Special Session “Mechanisms and their application” in “The 4th International Conference on Intelligent Robotics and Applications”, Aachen, Germany.

[9] 2011, Associate Editor of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA.

Areas of Research Interests/ Research Projects

Mechanism and Robotics, Parallel manipulators, Advanced and Smart Manufacturing Equipments

Honors And Awards

[1] 2016, "Cheung Kong" Chair Professor.

[2] 2014, Winner of National Outstanding Youth Fund of China.

[3] 2014, ”Best Paper Award” of “Performance indices for parallel robots considering motion/force transmissibility” in 2014 International Conference on Intelligent Robotics and Applications.

[4] 2013, Second Prize of National Natural Science Award.

[5] 2013年,”Best Paper Finalist” of ”Kinematic optimal design of a double-knuckle mechanism for servo punch press based on performance atlases” in 2013 IEEE International Conference on Mechatronics and Automation (ICMA 2013).

[6]  2012, 2015,  Second Prize of Natural Science from the Ministry of Education of China.

[7]  2010,”Best Student Paper Award“ of“Dimension optimization of an orientation fine-tuning manipulator for segment assembly device” in 2010 International Conference on Intelligent Robotics and Applications.

[8]  2006.9, Member of “Beijing Nova Program”.

[9]  2004.3-2005.4, “Alexander von Humboldt Research Fellow” of Germany.

[10]  2002.11, Honor of “Excellent Postdoctoral Fellow” in Tsinghua University.

[11]  2002.2 , “Young Science Exchange Fellow” between China and Korea.

[12]  2001.8, Honor of “the best youth paper of IEEE/CSS”, Beijing Chapter.

Academic Achievement

[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]  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.

[4]  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.

[5]  Jie Li, Fugui Xie and Xin-Jun Liu, Geometric error modeling and sensitivity analysis of a five-axis machine tool. International Journal of Advanced Manufacturing Technology, Vol.82, pp.2037–2051,2016.

[6]  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, Vol.230, No.3, pp.406–413, 2016.

[7]  Fugui Xie, Xin-Jun Liu, Analysis of the kinematic characteristics of a high-speed parallel robot with Schonflies motion: Mobility, kinematics, and singularity, Frontiers of Mechanical Engineering, Vol.11, No.2, pp.135-143, 2016.

[8]  Xiang Chen, Chao Chen, Xin-Jun Liu, Evaluation of Force/Torque Transmission Quality for Parallel Manipulators, Journal of Mechanisms Robotics-Transactions of the ASME, Vol.7, No.4, 041013-041013-9, 2015.

[9]  Fugui Xie and Xin-Jun Liu, 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, Vol.7, No.4, pp.041015-041015-12, 2015.

[10] Xin-Jun Liu, Jie Li and Yanhua Zhou, Kinematic optimal design of a 2-degree-of-freedom 3-parallelogram planar parallel manipulator, Mechanism and Machine Theory, Vol.87, No.5, pp.1-17, 2015.

[11] Fugui Xie, Xin-Jun Liu and Chao Wang, Design of a novel 3-DoF parallel kinematic mechanism: type synthesis and kinematic optimization, Robotica, Vol. 33, No. 3, pp 622 – 637, March 2015.

[12] Xiang Chen, Xin-Jun Liu, Fugui Xie. Screw theory based singularity analysis of lower-mobility parallel robots considering the motion/force transmissibility and constrainability. Mathematical Problems in Engineering, Article ID 487956, 2015.

[13] Fugui Xie, Xin-Jun Liu, Chao Wu and Pan Zhang, 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, Vol.229, No.11, pp.2081-2093 2015.

[14] 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, Vol.27, No.4, pp. 693-702, 2014. 

[15] Xin-Jun Liu, Xiang Chen, and Meyer Nahon, Motion/force constrainability analysis of lower-mobility parallel manipulators, Journal of Mechanisms and Robotics -Transactions of the ASME, Vol.6, No.3, pp.031006, 2014.

[16] 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, Vol.228, No.12, pp. 1630-1641, 2014.

[17] LIU XinJun, WANG Chao & ZHOU YanHua, Topology optimization of thermoelastic structures using the guide-weight method, SCIENCE CHINA Technological Sciences,Vol.57, No.5, pp.968–979, May 2014.

[18] Xiang Chen, Xin-Jun Liu, Fugui Xie and Tao Sun, A comparison study on motion/force transmissibility of two typical 3-DOF parallel manipulators: the sprint Z3 and A3 tool heads, International Journal of Advanced Robotic Systems, Vol. 11, No.5, 10 pages, 2014.

[19] 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, Vol. 15, No. 1, pp. 13-21, 2014.

[20] 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.

[21] 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.

[22] 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, Vol.26, No.6, pp.1073-1081, 2013.

[23] Zhou Yanhua, Xie Fugui, Liu Xinjun, Optimal design of a main driving mechanism for servo punch press based on performance atlases, Chinese Journal of Mechanical Engineering, Vol.26, No.5, pp. 909-917, Sep. 2013.

[24] Fugui Xie, Xin-Jun Liu and Tiemin Li, Type synthesis and typical application of 1T2R-type parallel robotic mechanisms, Mathematical Problems in Engineering, vol. 2013, Article ID 206181, 12 pages, 2013.

[25] Guoqin Gao, Juan Wen, Xinjun Liu, and Zhigang Zhang, Synchronous smooth sliding mode control for parallel mechanism based on coupling analysis, International Journal of Advanced Robotic Systems, Vol. 10, No.3, Article Number: 173, 10 pages, 2013.

[26] 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.

[27] 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.

[28] 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.

[29] XinJun Liu, Jing Wang, WeiYang Yu and JinHua Wu, Analysis and optimum design of rider-bicycle mechanisms: Design of bicycle parameters for a specified rider, SCIENCE CHINA Technological Sciences, Vol.54, No.11, pp.3027-3034, 2011.

[30] Li-Ping Wang, Fu-Gui Xie, Xin-Jun Liu and Jinsong Wang, Kinematic calibration of the 3-DOF parallel module of a 5-axis hybrid milling machine, Robotica, Vol.29, pp. 535–546, 2011.

[31] LIU XinJun, LI ZhiDong and CHEN Xiang, A new solution for topology optimization problems with multiple loads: The guide-weight method, SCIENCE CHINA Technological Sciences, Vol.54 No.6, pp.1505–1514, 2011.

[32] XIE FuGui, LIU XinJun, ZHANG Hui & WANG JinSong, Design and experimental study of the SPKM165, a five-axis serial-parallel kinematic milling machine, SCIENCE CHINA Technological Sciences, Vol.54 No.5, pp.1193–1205, 2011.

[33] 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.

[34] 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.

[35] 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.

[36] Xin-Jun Liu, Li-Ping Wang, Fugui Xie, and Ilian A. Bonev, Design of a three-axis articulated tool head with parallel kinematics achieving desired motion/force transmission characteristics, ASME Journal of Manufacturing Science and Engineering -Transactions of the ASME, Vol.132, No.2, 021009 (8 pages), 2010.

[37] 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-Transactions of the ASME, Vol.132, No. 3, 031002 (10 pages), 2010.

[38] 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.

[39] Stefan Staicu, Xin-Jun Liu, Jianfeng Li, Explicit dynamics equations of the constrained robotic systems, Nonlinear Dynamics, Vol. 58, No. 1-2, pp. 217-235 , 2009.

[40] 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. 

[41] 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.

[42] 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.

[43] 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.

[44] Xin-Jun Liu and Ilian A. Bonev, Orientation capability, error analysis, and dimensional optimization of two articulated tool heads with parallel kinematics, Journal of Manufacturing Science and Engineering –Transactions of the ASME, Vol. 130, No.1, Article Number: 011015, 2008.

[45] Chen Tao, Wu Chao and Liu Xinjun, Structure and kinematic analysis of a novel 2-DOF translational parallel robot, Progress in Natural Science, Vol. 17, No. 10, pp. 1213-1219, 2007.

[46] 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.

[47] 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.

[48] 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.

[49] D. S. Kang, T.W. Seo, Y.H. Yoon, B.S. Shin, X.-J. Liu, J. Kim, A micro-positioning parallel mechanism platform with 100-degree tilting capability, CIRP Annals-Manufacturing Technology, Vol.55, No.1, pp.377-380, 2006.

[50] Xin-Jun Liu, Jinsong Wang and Günter Pritschow, On the optimal kinematic design of the PRRRP 2-DoF parallel mechanism, Mechanism and Machine Theory, Vol. 41, No.9, pp.1111-1130, 2006.

[51] Xin-Jun Liu, Optimal kinematic design of a three translational DoFs parallel manipulator, Robotica, Vol.24, No.2, pp 239-250, 2006.

[52] 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.

[53] 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.

[54] Xin-Jun Liu, Jinsong Wang and Günter Pritschow, Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms, Mechanism and Machine Theory, Vol.41, No.2, pp.145-169, 2006.

[55] Xin-Jun Liu, Jinsong Wang and Günter Pritschow, Performance atlases and optimum design of planar 5R symmetrical parallel mechanisms, Mechanism and Machine Theory, Vol.41, No.2, pp.119-144, 2006.

[56] Xin-Jun Liu and Jongwon Kim, A new spatial three-DoF parallel manipulator with high rotational capability, IEEE/ASME Transactions on Mechatronics, Vol.10, No.5, pp.502-512, Oct. 2005.

[57] Xin-Jun Liu, X. Tang and Jinsong Wang, HANA: a novel spatial parallel manipulator with one rotational and two translational degrees of freedom, Robotica, Vol.23, No.2, pp.257-270, 2005.

[58] Xin-Jun Liu Jinsong Wang and 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.

[59] Xin-Jun Liu, Q.-M. Wang and 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.

[60] K.-K. Oh, Xin-Jun Liu, D.S. Kang and J. Kim, Optimal design of a micro parallel positioning platform. Part II: real machine design, Robotica, Vol. 23, pp.109-122, 2005.

[61] Xin-Jun Liu, Jinsong Wang, Qiming Wang and Tiemin Li, Workspace and rotational capability analysis of a spatial 3-dof parallel manipulator, Progress in Natural Science, Vol. 14, No.11, pp.996-1003, 2004.

[62] K.-K. Oh, Xin-Jun Liu, D.S. Kang and J. Kim, Optimal design of a micro parallel positioning platform. Part I: Kinematic anlaysis, Robotica, Vol.22, No.6, pp.599-609, 2004.

[63] Xin-Jun Liu, Jinsong Wang, K.-K. Oh and J. Kim, 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.

[64] Xin-Jun Liu and Jinsong Wang, Some new parallel mechanisms containing the planar four-bar parallelogram, International Journal of Robotics Research, Vol.22, No.9, pp.717-732, Sept. 2003.

[65] Xin-Jun Liu, Jinsong Wang and Haojun 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, Aug. 2003.

[66] Xin-Jun Liu, J. Jeong, and J. Kim, A three translational DoFs parallel cube-manipulator, Robotica, Vol.21, No.6, pp.645-653, 2003.

[67] Xin-Jun Liu, Jinsong Wang and F. Gao, Workspace atlases for the design of spherical 3-DOF serial wrists, Journal of Intelligent and Robotic Systems, Vol.36, No.4, pp.389-405, 2003.

[68] Jinsong Wang, and Xin-Jun Liu, Analysis of a novel cylindrical 3-DoF parallel robot, Robotics and Autonomous Systems, Vol.42, No.1 pp. 31-46, 2003.

[69] Xin-Jun Liu, Jinsong Wang, F. Gao and L.-P. 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.

[70] Xin-Jun Liu, J. Wang, F. Gao and L.-P. Wang, The mechanism design of a simplified 6-DOF 6-RUS parallel manipulator, Robotica, Vol.20, No.1, pp.81-91, 2002.

[71] J. Li, Jinsong Wang, and Xinjun Liu, An efficient method for inverse dynamics of the kinematic defective parallel platforms, Journal of Robotic Systems, Vol. 19, No. 2, pp. 45-61, 2002.

[72] Xin-Jun Liu, Jinsong Wang and F. Gao, Performance atlases of the workspace for planar 3-DOF parallel manipulators, Robotica, 18(5): 563-568, 2000.

[73] Xin-Jun Liu, Z.-L. Jin and F. Gao, Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices, Mechanism and Machine Theory, 35 (2000), pp:1257~1267.

[74] F. Gao, Xin-Jun Liu and X. Chen, The relationships between the shapes of the workspaces and the link lengths of 3-DOF symmetrical planar parallel manipulators, Mechanism and Machine Theory, 36(2), pp:205~220, 2001.

[75] F. Gao, Xin-Jun Liu and William A. Gruver, Performance evaluation of two-degree-of- freedom planar parallel robots, Mechanism and Machine Theory, Vol.33, No.6, pp661-668, 1998.