講座主題：2020年鏡湖大講堂系列講座之四——可重構機器人系統及應用

主 讲 人：张 丹

時     間：2020年4月28日10:00

地     點：騰訊會議

會 議 號： 360 554 949

會議密碼： 12345

主 辦 方：共青團中國礦業大學委員會

                机电工程学院

                中國礦業大學學生會

講師介紹：張丹博士，于2000年6月從加拿大拉瓦爾大學（Laval University）博士畢業後，研究集中于機器人與自動化、先進制造技術以及新型高性能機器人及其應用的交织領域，並且把高性能機器人應用于機床、醫療設備、MEMS、抛光、去毛刺等工業應用中。

主要學術貢獻是並聯機器人的構型創新、運動靜力學建模及操作性能優化等。其設計的機器人在航空、汽車、機床、煤礦和其他特殊環境下有廣泛的應用實例。他發明並制造了世界上獨一無二的具有被動約束鏈的多軸並聯機器人機床，获得同行的廣泛關注和洽評。該技術被譽爲“二十一世紀機器人機床”。提出的鉸鏈安裝誤差、絲杠執行誤差和隨機誤差的融合模型與補償技術，不僅在高精度三自由度並聯機床上获得了有效的應用，而且在Five-hundred-meter Aperture Spherical radio Telescope (FAST) 50m模型研究中就接纳了這一技術，有效提高了饋源精調平台的執行精度，實現了亞毫米級定位精度，使FAST得以“精益求精”。

指导培养博士後18人，博士研究生20人，碩士研究生26人，訪問學者25人。在國際雜志發表論文187篇，國際會議論文166篇以及出书專著9部。

講座簡介：Robotics provides transformative technologies for all aspects of human lives from manufacturing, education, entertainment, healthcare and medical systems. Nevertheless, it is an open technology that continues to evolve for higher accuracy, speed, reliability, robustness, resilience and sustainability. In particular, the attributes of resilience and sustainability have only received growing attentions recently. Robotics is also a highly interdisciplinary technology which integrates knowledge from many fields including mechanical engineering, electronics engineering, and informatics. One of the most significant challenges this technology faces today is to develop technologies for the new attributes (such as sustainability) of a robotic system. However, system sustainability can be achieved by reconfiguration and decentralization, whose system configurations are evolved with the changes of design requirements and dynamic environment. The modular construction of parallel robotic machines allows them to achieve this objective and generate a class of reconfigurable robotic structures.

In this talk, the parallel robotic system and its characteristics will be presented and discussed. Based on the modular structure of parallel robotic system, reconfigurable robots are generated and their potential applications such as 3D printer, machine tools and mobile modular rescue robots etc. are demonstrated.