曲海波

博士、副教授

基本信息

办公电话：—— 电子邮件： hbqu@bjtu.edu.cn
通讯地址：北京交通大学机电学院机器人研究所 邮编：100044

教育背景

2002/9 - 2006/7，山东交通学院，机械设计制造及其自动化，学士

2006/9 - 2008/7，北京交通大学，机械设计及理论，硕士研究生

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

2008/9 - 2013/7，北京交通大学，机械设计及理论，博士研究生


工作经历

2013/7 - 2015/8    北京交通大学，博士后

2015/9 - 2016/12   北京交通大学，机械与电子控制工程学院，讲师

2017/1 - 至今    北京交通大学，机械与电子控制工程学院，副教授

研究方向

  • 智能机械设计与机器人技术
  • 智能制造与机器人
  • 智能制造与装备

招生专业

  • 机械工程硕士
  • 机械工程博士

科研项目

  1. 基础研究项目：折纸启发的多稳态和可重构折展结构研究，2023-2025，主持
  2. 红果园（横）：多通道并联布局组合发动机轻量化调节机构设计，2022-2023，主持
  3. 河北省自然科学基金(面上)-唐研院：结构冗余并联机器人误差敏感度分析与自适应调整策略研究，2022-2024，主持
  4. 科研专项：折纸启发的高承载力和高稳定性可折展结构研究，2022-2023，主持
  5. 红果园国家级"四总部": 四足机器人性能集成优化研究, 2021-2023，主持
  6. 校企合作项目：自动化焊接夹持翻转工装系统，2020.5-2021.8，主持
  7. 北京市自然科学基金(青年)：仿生双足机器人高速跑跳控制理论与技术研究，2020.4-2022.4，参加
  8. 国家自然科学基金(面上)：可折展多操作模式并联机构设计理论研究，2019.1-2022.12，参加
  9. 基本科研业务费：面向任务的结构冗余并联机构奇异规避分析和变刚度特性研究，2019.4-2021.3，主持
  10. 北京市自然科学基金：自适应柔顺仿生助力外骨骼装置设计与研究，2017.10-2020.6，参加
  11. 校企合作项目：智能物流机器人，2017.11-2019.12，主持
  12. 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
  13. 国家自然科学基金(青年)：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
  14. 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
  15. 基本科研业务费：机器人智能研究平台，2015.1-2015.12，主持
  16. 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
  17. 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
  18. 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
  19. 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
  20. 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 《机械原理》、《机械原理》（国际班）

研究生 《机器人设计与分析》


论文/期刊

  1. Zhizhen Zhou, Haibo Qu*, Xiao Li, Buqin Hu, Sheng Guo. Error Sensitivity Analysis of a 1T2R Kinematically Redundant Parallel Mechanism with Closed-Loop Chain. ASME Journal of Mechanical Design, 2025, 147(5):053301 (15 pages).
  2. Xiaolei Wang, Haibo Qu*, Buqin Hu, Haoqian Wang, Wenju Liu, Sheng Guo. Energy absorption of Kresling pattern thin-walled structures with pre-folded patterns and graded stiffness. International Journal of Solids and Structures, 2024, 305:113057(14 pages).
  3. Pan Ma, Haibo Qu*, Wenju Liu, Xiaolei Wang, Haoqian Wang, Buqin Hu, Sheng Guo. Jellyfish-inspired Multi-modular Bionic Amphibious Robot. Journal of Field Robotics, 2024.
  4. Xiaolei Wang, Haibo Qu*, Kai Zhao, Xiao Yang, Sheng Guo. Kresling origami derived structures and inspired mechanical metamaterial. Smart Materials and Structures, 2024, 33(7): 075030(13 pages).
  5. Haoqian Wang, Haibo Qu*, Xiaolei Wang, Yufan He, Sheng Guo. Tensile behavior of square-twist origami inspired mechanical metamaterials with soft joints and chirality applications. Smart Materials and Structures, 2024, 33(6):065038(17 pages).
  6. Yili Kuang, Haibo Qu*, Xiao Li, Xiaolei Wang, Sheng Guo. Design and singularity analysis of a parallel mechanism with origami-inspired reconfigurable 5R closed-loop linkages. Robotica, 2024, 42(6): 1861-1884.
  7. Wenju Liu, Haibo Qu*, Xiaolei Wang, Junyu Bao, Guangrong Chen, Sheng Guo. Design and analysis of a bionic-inspired single-rotor MAV with a foldable wing. Journal of Field Robotics, 2024, 41(5): 1265-1278.
  8. Xiaolei Wang, Haibo Qu*, Sheng Guo. Tristable property and the high stiffness analysis of Kresling pattern origami. International Journal of Mechanical Sciences, 2023, 256: 108515 (12 pages).
  9. Xiaolei Wang, Haibo Qu*, Xiao Li, Yili Kuang, Haoqian Wang, Sheng Guo*. Multi-triangles cylindrical origami and inspired metamaterials with tunable stiffness and stretchable robotic arm. PNAS Nexus, 2023, 2(4): pgad098  (9 pages).
  10. Xiao Li, Haibo Qu*, Sheng Guo. Kinematic performance and statics analysis of a 2-DOF 3-RPS/US parallel manipulator with passive limbs. ASME Journal of Mechanisms and Robotics, 2023, 15(2): 021014 (12 pages).
  11. Xiao Li, Haibo Qu*, Guanming Li, Sheng Guo, Guoqiang Dong. Optimal design of a Kinematically redundant planar parallel mechanism based on error sensitivity and workspace. ASME Journal of Mechanical Design, 2023, 145(2): 023305 (10 pages).
  12. Yuan Xue, Haibo Qu*, Xiao Li,Sheng Guo. Stiffness performance analysis of a 3-PRPS Kinematically redundant parallel mechanism. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2023, 237(3):589-602.
  13. Chaoyu Shen, Haibo Qu*, Sheng Guo, Xiao Li. Kinematics analysis and singularity avoidance of a parallel mechanism with kinematic redundancy. Chinese Journal of Mechanical Engineering, 2022, 35:113(18 pages).
  14. Lanqing Hu, Haibo Gao, Haibo Qu, Zhen Liu. Closeness to singularity based on kinematics and dynamics and singularity avoidance of a planar parallel robot with kinematic redundancy. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2021, 236(7): 3717-3730.
  15. Haibo Qu, Lanqing Hu, Sheng Guo. Singularity analysis and avoidance of a planar parallel mechanism with kinematic redundancy under a fixed orientation. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2021, 235(18):3534-3553.
  16. 李官明，曲海波*，郭盛. 平面结构冗余并联机构的误差敏感性分析. 机械工程学报，2020，56(23): 45-57.
  17. 曲海波, 胡榄庆, 郭盛, 李书杰. 含支链闭环的结构冗余平面并联机构静力学分析,  中南大学学报(自然科学版), 2020, 51(10): 2758-2771.
  18. Haibo Qu, Chuanliang Zhang, Sheng Guo. Structural synthesis of a class of kinematically redundant parallel manipulators based on modified G-K criterion and RDOF criterion. Mechanism and Machine Theory, 2018, 130: 47-70.
  19. 邹琦, 曲海波*, 郭盛. 一种三自由度可重构并联机构优化设计及性能分析. 中国机械工程, 2018, 29 (10): 1172-1178.
  20. 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, 2017, 231(22): 4227-4240.
  21. 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.
  22. 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.
  23. 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. 
  24. Haibo Qu, Sheng Guo. Topology and mobility variations of a novel redundant reconfigurable parallel mechanism. Advances in Reconfigurable Mechanisms and Robots II, 2016, Springer, pp.223-233
  25. 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.
  26. 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.
  27. 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.
  28. 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.
  29. 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.
  30. 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.
  31. 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.
  32. 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.
  33. 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.
  34. Sheng Guo, Wei Ye, Haibo Qu, Yuefa Fang. A serial of novel four degrees of freedom parallel mechanisms with large rotational workspace. Robotica, 2016, 34(4): 764-776. 
  35. 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. 
  36. 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.
  37. 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.
  38. 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.
  39. 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. 


专著/译著

  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（2017-2022）
  2. 《Scientific Reports》 Editorial Board Member（2024-）