姜嶢

姜嶢，男，博士，清華大學助理研究員。

基本介紹

• 中文名：姜嶢
• 職業：教師
• 學位/學歷：博士
• 專業方向：非結構化環境下的智慧型機器人
• 任職院校：清華大學

個人經歷

2011/09-2016/07, 清華腿敬境大學，博士宙匙己灶

2007/09-2011/07, 南京理工大學，學士

2018/08-至今汽戒熱奔, 清華大學機械工程系，助理研究員

2017/07-2018/07, 哈佛大學生物工程犁謎套系，博士後

2016/07-2018/07, 清華大學精密儀辣迎器系，博士後

研究方向

非結構化環境下的智慧型機器人、靈巧機械故頸嚷手及抓取、協作機器人；

融合智慧型結構單元高精度機器、壓電驅動高精度微動她樂擊平台。

學術成果

已發表學術論文

[1] Yao Jiang*, Tiemin Li, Liping Wang, Feifan Chen. Kinematic accuracy improvement of a novel smart structure-based parallel kinematic machine, IEEE/ASME Transactions on Mechatronics, 2018, 23(1): 469-481. (SCI: FW9RE)

[2] Yao Jiang*, Tiemin Li, Liping Wang, Feifan Chen. Kinematic error modeling and identification of the over-constrained kinematic machine, Robotics and Computer-Integrated Manufacturing, 2018, 49: 105-119. (SCI: FJ7RW)

[3] Yao Jiang, Tiemin Li*, Liping Wang, Feifan Chen. Improving tracking accuracy of a novel 3-DOF redundant planar parallel kinematic machine, Mechanism and Machine Theory, 2018, 119: 198-218. (SCI: FK8WS)

[4] Yao Jiang*, Tiemin Li, Liping Wang. Novel method for designing high precision parallel kinematic machines based on the smart structure, IEEE/ASME Transactions on Mechatronics, 2017, 22(4): 1889-1902. (SCI: FE3UX)

[5] Yao Jiang, Tiemin Li*, Liping Wang, Feifan Chen.Systematic design method and experimental validation of a 2-DOF compliant parallel mechanism with excellent input and output decoupling performances, Applied Sciences, 2017, 7(6): 591. (SCI: EZ1DO)

[6] Yao Jiang*, Tiemin Li, Liping Wang. Design, development and application of a compact flexure-based decoupler with high motion transmission efficiency and excellent input decoupling performance, IEEE/ASME Transactions on Mechatronics, 22(2): 1071-1081. (SCI: ES71M)

[7] Yao Jiang*, Tiemin Li, Liping Wang. Stiffness modeling of compliant parallel mechanisms and applications in the performance analysis of a decoupled parallel compliant stage, Review of Scientific Instruments, 2015, 86(9): 095109. (SCI: CT1PX)

[8] Yao Jiang, Tiemin Li*, Liping Wang. Dynamic modeling and redundant force optimization of a 2-DOF parallel kinematic machine with kinematic redundancy, Robotics and Computer-Integrated Manufacturing, 2015, 32: 1-10. (SCI: AW7PC)

[9] Yao Jiang, Tiemin Li*, Liping Wang. The dynamic modeling, redundant-force optimization, and dynamic performance analyses of a parallel kinematic machine with actuation redundancy, Robotica, 2015, 33(2): 241-263. (SCI: AZ8XB)

[10] Fuhua Li, Yao Jiang, Tiemin Li*, Yunsong Du. An improved dynamic model of preloaded ball screw drives considering torque transmission and its application to frequency analysis, Advances in Mechanical Engineering, 2017, 9(7): 1687814017710580. (SCI: FA5YO)

[11] Liping Wang, Yao Jiang, Tiemin Li*.Analytical compliance modeling of serial flexure-based compliant mechanism under arbitrary applied load, Chinese Journal of Mechanical Engineering, 2017, 30(4): 951-962. (SCI: EZ3YB)

[12] Liping Wang, Yao Jiang*, Tiemin Li. Running accuracy analysis of a 3-RRR parallel kinematic machine considering the deformation of the links, Chinese Journal of Mechanical Engineering, 2014, 27(5): 890-899. (SCI: AO3ZH)

[13] Shi Jia, Yao Jiang, Tiemin Li*, Yunsong, Du. Learning-based optimal desired compensation adaptive robust control for a flexure-based micro-motion manipulator, Applied Science-Basel, 2017, 7(4): 406. (SCI: EZ1CW)

[14] Shi Jia, Yao Jiang, Tiemin Li*, Yunsong Du. Contour accuracy improvement of a flexure-based micro-motion stage for tracking repetitive trajectory, AIP Advances, 2017, 7(1): 015026. (SCI: EN1SI)

[15] Tiemin Li, Jinglei Zhang, Yao Jiang*. Derivation of Empirical compliance equations for circular flexure hinge considering the effect of stress concentration, International Journal of Precision Engineering and Manufacturing, 2015, 16(8): 1735-1743. (SCI: CM9KJ)

[16] Tiemin Li, Fengchun Li, Yao Jiang*, etc. Error modeling and sensitivity analysis of a 3-P(Pa)S parallel type spindle head with parallelogram structure, International Journal of Advanced Robotic Systems, 2017, 14(3): 1-18. (SCI: EZ2JT)

[17] Tiemin Li, Fuhua Li*, Yao Jiang, etc. Modeling of axial contact stiffness of a double-nut with preloads, Proceedings of the Institute of Mechanical Engineering Part C – Journal of Mechanical Engineering Science, 2018, 232(4): 629-638. (SCI: FW1FE)

[18] Tiemin Li, Fengchun Li*, Yao Jiang, Haitong Wang. Thermal error modeling and compensation of a heavy gantry-type machine tool and its verification in machining, International Journal of Advanced Manufacturing Technology, 2017, 92(9-12): 3073-3092. (SCI: FH5UZ)

[19] Tiemin Li, Fengchun Li*, Yao Jiang, Jinglei Zhang, Haitong Wang. Kinematic calibration of a 3-P(Pa)S parallel-type spindle head considering the thermal error, Mechatronics, 2017, 43: 86-98. (SCI: ET3YO)

[20] Yunsong Du, Tiemin Li*, Yao Jiang, Haitong Wang. Design and analysis of a 2-degree-of-freedom flexure-based micro-motion stage, Advances in Mechanical Engineering, 2016, 8(3): 1687814016638301. (SCI: DI6KC)

[21] Tiemin Li, Yunsong Du*, Yao Jiang, Jinglei Zhang. Empirical compliance equations for constant rectangular cross section flexure Hinges and their applications, Mathematical Problems in Engineering, 2016: 5602142. (SCI: DJ3HJ)

授權發明專利

[1] 李鐵民, 杜雲松, 姜嶢, 李福華, 張京雷, 賈石, 李逢春. 一種超精密低速滾珠絲槓直線進給裝置，中國發明專利，授權號：CN201610258353.0

[2] 李鐵民, 李福華, 姜嶢, 杜雲松, 賈石. 雙螺母滾珠絲槓副預緊力調節與測量裝置及直線進給系統，中國發明專利，授權號：CN201610286086.8

[3] 李鐵民, 杜雲松, 姜嶢, 張京雷, 李福華. 一種面向壓電式加速度感測器橫向靈敏度標定的振動台，中國發明專利，授權號：CN201610115317.9

[4] 李鐵民, 姜嶢, 杜雲松, 張京雷. 兩自由度運動解耦柔性鉸鏈機構，中國發明專利，授權號：CN201510223680.8

[5] 李鐵民, 張京雷, 姜嶢, 杜雲松, 李福華, 吳軍. 一種壓電柔性迴轉驅動裝置，中國發明專利，授權號：CN201410724548.0

[6] 姜嶢, 李鐵民, 王立平. 一種並聯式宏微高精運動平台，中國發明專利，授權號：CN201510726632.0

[7] 李鐵民, 張京雷, 姜嶢, 吳軍. 一種五軸聯動工具機主軸頭姿態角測量裝置及測量方法，中國發明專利，授權號：CN201510566478.5

[8] 李鐵民, 姜嶢, 杜雲松, 張亮亮, 吳軍. 一種滾珠絲槓轉動慣量及摩擦力矩的測量裝置，中國發明專利，授權號：CN201410165576.3

[9] 李鐵民, 姜嶢, 李福華, 杜雲松, 吳軍, 關立文. 一種滾珠絲槓預緊力和預拉伸量可控調節和測量裝置，中國發明專利，授權號：CN201410165778.8

[10] 王立平, 姜嶢, 李福華, 李鐵民, 吳軍. 一種滾珠絲槓靜動剛度綜合測量裝置，中國發明專利，授權號：CN201410167828.6

[11] 李鐵民, 姜嶢, 杜雲松, 李福華, 吳軍, 關立文. 直線導軌摩擦力及製造安裝誤差綜合測量裝置，中國發明專利，授權號：CN201410165816.X

[12] 王立平, 李鐵民, 姜嶢, 吳軍, 關立文, 唐曉強. 一種用於數控移動工作檯的平面連續載入試驗裝置，中國發明專利，授權號：CN201210287238.8

[13] 李鐵民, 姜嶢, 吳軍, 關立文, 唐曉強. 一種新型平面兩自由度冗餘驅動並聯移動平台，中國發明專利，授權號：CN201310070456.0

[14] 李鐵民, 姜嶢, 吳軍, 關立文, 唐曉強. 一種在數控移動工作檯的任意位置垂直連續載入試驗裝置，中國發明專利，授權號：CN201210287185.X

[15] 王立平, 李鐵民, 姜嶢, 吳軍, 關立文, 王妍智. 一種直線進給系統動態特性綜合測試實驗裝置，中國發明專利，授權號：CN201210404440.4

[16] 李鐵民, 姜嶢, 吳軍, 關立文, 唐曉強. 一種具有新型冗餘驅動支鏈的三自由度平面並在線上構，中國發明專利，授權號：CN201310069674.2

[17] 李鐵民, 姜嶢, 吳軍, 唐曉強, 關立文. 一種單向壓力動態載入裝置，中國發明專利，授權號：CN201210404690.8

[18] 李鐵民, 姜嶢, 關立文, 吳軍, 唐曉強. 一種雙向拉壓力動態載入裝置，中國發明專利，授權號：CN201210404424.5

[19] 吳軍, 李鐵民, 姜嶢, 唐曉強. 一種平面兩自由度冗餘驅動並在線上構及採用該機構的工具機，中國發明專利，授權號：CN201210104000.7

榮譽獎項

2016年獲清華大學優秀博士論文二等獎

2016年獲北京市優秀博士畢業生

[6] Yao Jiang*, Tiemin Li, Liping Wang. Design, development and application of a compact flexure-based decoupler with high motion transmission efficiency and excellent input decoupling performance, IEEE/ASME Transactions on Mechatronics, 22(2): 1071-1081. (SCI: ES71M)

[7] Yao Jiang*, Tiemin Li, Liping Wang. Stiffness modeling of compliant parallel mechanisms and applications in the performance analysis of a decoupled parallel compliant stage, Review of Scientific Instruments, 2015, 86(9): 095109. (SCI: CT1PX)

[8] Yao Jiang, Tiemin Li*, Liping Wang. Dynamic modeling and redundant force optimization of a 2-DOF parallel kinematic machine with kinematic redundancy, Robotics and Computer-Integrated Manufacturing, 2015, 32: 1-10. (SCI: AW7PC)

[9] Yao Jiang, Tiemin Li*, Liping Wang. The dynamic modeling, redundant-force optimization, and dynamic performance analyses of a parallel kinematic machine with actuation redundancy, Robotica, 2015, 33(2): 241-263. (SCI: AZ8XB)

[10] Fuhua Li, Yao Jiang, Tiemin Li*, Yunsong Du. An improved dynamic model of preloaded ball screw drives considering torque transmission and its application to frequency analysis, Advances in Mechanical Engineering, 2017, 9(7): 1687814017710580. (SCI: FA5YO)

[11] Liping Wang, Yao Jiang, Tiemin Li*.Analytical compliance modeling of serial flexure-based compliant mechanism under arbitrary applied load, Chinese Journal of Mechanical Engineering, 2017, 30(4): 951-962. (SCI: EZ3YB)

[12] Liping Wang, Yao Jiang*, Tiemin Li. Running accuracy analysis of a 3-RRR parallel kinematic machine considering the deformation of the links, Chinese Journal of Mechanical Engineering, 2014, 27(5): 890-899. (SCI: AO3ZH)

[13] Shi Jia, Yao Jiang, Tiemin Li*, Yunsong, Du. Learning-based optimal desired compensation adaptive robust control for a flexure-based micro-motion manipulator, Applied Science-Basel, 2017, 7(4): 406. (SCI: EZ1CW)

[14] Shi Jia, Yao Jiang, Tiemin Li*, Yunsong Du. Contour accuracy improvement of a flexure-based micro-motion stage for tracking repetitive trajectory, AIP Advances, 2017, 7(1): 015026. (SCI: EN1SI)

[15] Tiemin Li, Jinglei Zhang, Yao Jiang*. Derivation of Empirical compliance equations for circular flexure hinge considering the effect of stress concentration, International Journal of Precision Engineering and Manufacturing, 2015, 16(8): 1735-1743. (SCI: CM9KJ)

[16] Tiemin Li, Fengchun Li, Yao Jiang*, etc. Error modeling and sensitivity analysis of a 3-P(Pa)S parallel type spindle head with parallelogram structure, International Journal of Advanced Robotic Systems, 2017, 14(3): 1-18. (SCI: EZ2JT)

[17] Tiemin Li, Fuhua Li*, Yao Jiang, etc. Modeling of axial contact stiffness of a double-nut with preloads, Proceedings of the Institute of Mechanical Engineering Part C – Journal of Mechanical Engineering Science, 2018, 232(4): 629-638. (SCI: FW1FE)

[18] Tiemin Li, Fengchun Li*, Yao Jiang, Haitong Wang. Thermal error modeling and compensation of a heavy gantry-type machine tool and its verification in machining, International Journal of Advanced Manufacturing Technology, 2017, 92(9-12): 3073-3092. (SCI: FH5UZ)

[19] Tiemin Li, Fengchun Li*, Yao Jiang, Jinglei Zhang, Haitong Wang. Kinematic calibration of a 3-P(Pa)S parallel-type spindle head considering the thermal error, Mechatronics, 2017, 43: 86-98. (SCI: ET3YO)

[20] Yunsong Du, Tiemin Li*, Yao Jiang, Haitong Wang. Design and analysis of a 2-degree-of-freedom flexure-based micro-motion stage, Advances in Mechanical Engineering, 2016, 8(3): 1687814016638301. (SCI: DI6KC)

[21] Tiemin Li, Yunsong Du*, Yao Jiang, Jinglei Zhang. Empirical compliance equations for constant rectangular cross section flexure Hinges and their applications, Mathematical Problems in Engineering, 2016: 5602142. (SCI: DJ3HJ)

授權發明專利

[1] 李鐵民, 杜雲松, 姜嶢, 李福華, 張京雷, 賈石, 李逢春. 一種超精密低速滾珠絲槓直線進給裝置，中國發明專利，授權號：CN201610258353.0

[2] 李鐵民, 李福華, 姜嶢, 杜雲松, 賈石. 雙螺母滾珠絲槓副預緊力調節與測量裝置及直線進給系統，中國發明專利，授權號：CN201610286086.8

[3] 李鐵民, 杜雲松, 姜嶢, 張京雷, 李福華. 一種面向壓電式加速度感測器橫向靈敏度標定的振動台，中國發明專利，授權號：CN201610115317.9

[4] 李鐵民, 姜嶢, 杜雲松, 張京雷. 兩自由度運動解耦柔性鉸鏈機構，中國發明專利，授權號：CN201510223680.8

[5] 李鐵民, 張京雷, 姜嶢, 杜雲松, 李福華, 吳軍. 一種壓電柔性迴轉驅動裝置，中國發明專利，授權號：CN201410724548.0

[6] 姜嶢, 李鐵民, 王立平. 一種並聯式宏微高精運動平台，中國發明專利，授權號：CN201510726632.0

[7] 李鐵民, 張京雷, 姜嶢, 吳軍. 一種五軸聯動工具機主軸頭姿態角測量裝置及測量方法，中國發明專利，授權號：CN201510566478.5

[8] 李鐵民, 姜嶢, 杜雲松, 張亮亮, 吳軍. 一種滾珠絲槓轉動慣量及摩擦力矩的測量裝置，中國發明專利，授權號：CN201410165576.3

[9] 李鐵民, 姜嶢, 李福華, 杜雲松, 吳軍, 關立文. 一種滾珠絲槓預緊力和預拉伸量可控調節和測量裝置，中國發明專利，授權號：CN201410165778.8

[10] 王立平, 姜嶢, 李福華, 李鐵民, 吳軍. 一種滾珠絲槓靜動剛度綜合測量裝置，中國發明專利，授權號：CN201410167828.6

[11] 李鐵民, 姜嶢, 杜雲松, 李福華, 吳軍, 關立文. 直線導軌摩擦力及製造安裝誤差綜合測量裝置，中國發明專利，授權號：CN201410165816.X

[12] 王立平, 李鐵民, 姜嶢, 吳軍, 關立文, 唐曉強. 一種用於數控移動工作檯的平面連續載入試驗裝置，中國發明專利，授權號：CN201210287238.8

[13] 李鐵民, 姜嶢, 吳軍, 關立文, 唐曉強. 一種新型平面兩自由度冗餘驅動並聯移動平台，中國發明專利，授權號：CN201310070456.0

[14] 李鐵民, 姜嶢, 吳軍, 關立文, 唐曉強. 一種在數控移動工作檯的任意位置垂直連續載入試驗裝置，中國發明專利，授權號：CN201210287185.X

[15] 王立平, 李鐵民, 姜嶢, 吳軍, 關立文, 王妍智. 一種直線進給系統動態特性綜合測試實驗裝置，中國發明專利，授權號：CN201210404440.4

[16] 李鐵民, 姜嶢, 吳軍, 關立文, 唐曉強. 一種具有新型冗餘驅動支鏈的三自由度平面並在線上構，中國發明專利，授權號：CN201310069674.2

[17] 李鐵民, 姜嶢, 吳軍, 唐曉強, 關立文. 一種單向壓力動態載入裝置，中國發明專利，授權號：CN201210404690.8

[18] 李鐵民, 姜嶢, 關立文, 吳軍, 唐曉強. 一種雙向拉壓力動態載入裝置，中國發明專利，授權號：CN201210404424.5

[19] 吳軍, 李鐵民, 姜嶢, 唐曉強. 一種平面兩自由度冗餘驅動並在線上構及採用該機構的工具機，中國發明專利，授權號：CN201210104000.7

榮譽獎項

2016年獲清華大學優秀博士論文二等獎

2016年獲北京市優秀博士畢業生