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peace_boy

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[交流] CSC 博士招生_英国贝尔法斯特女王大学机械与航空航天学院（机器人领域）

Title: Design, analysis and control of reconfigurable parallel robots

Project description:
Parallel robots (PRs) have attracted great attention in the last three decades from academia to industry, and
some PRs have been commercially successful and made great contribution to the economy. Comparing to
serial robots, PRs have a number of advantages such as higher stiffness, higher accuracy and higher
acceleration capacity, but also have some limitations such as smaller workspace and limited tilting ability.
Reconfigurable PRs (RPRs) have recently been proposed to overcome these drawbacks. RPRs are referred
to as PRs which has re-configurability so that their mobility, kinematic and dynamic performance can be
changed by alternating their configurations. They have recently become the research focus in the robotics
research community, and have shown great potential due to their great flexibility and cost effectiveness for
agile applications. In this context, this project is to conduct the leading-edge research on design, analysis,
and control of a new family of RPRs, used for flexible manufacturing applications.
Project Aim
The overall aim is to design and implement a prototype of a new RPR, and control and characterise it via a
number of tests. The project objectives are as follows.
 Topology design of a family of RPRs with lockable joints
 Kinematic modelling, Jacobian analysis, and stiffness modelling
 FEA modelling and dimensional synthesis of the RPRs
 Design and develop reconfiguration strategy and control scheme
 Design links, joints and their connections, create CAD models and motion simulation
 Parts fabrication and prototype implementation
 Conduct experiments to validate and calibrate the above models, and characterise the prototype

Key skills required for the post:
 A bachelor degree in Engineering (Mechanical Engineering, Manufacturing, Mechatronics, or
relevant) with an overall average at 85% or above; or a master degree with an overall average at
least 80%.
 Experience of CAD design
 Knowledge of homogeneous transform and screw theory considered as advantage
 Knowledge of robot/mechanism design and analysis considered as advantage
 Time management skills
 Oral and written communication skills

Key transferable skills that will be developed during the PhD:
The student will get a comprehensive training in design, analysis, optimisation, prototyping, control and
testing in robotics, which is a highly sought-after area, priority area in ‘Made in China 2025’. Through the
project, the researcher will gain the following skills.
 Innovative thinking to synthesize robot topologies
 Analytical skills in robot analysis and optimization
 Hands-on skills in prototype build and physical testing
 CAD design, robotics simulation, and FEA
 Applied control theory for intelligent manufacturing
 Project management training to ensure milestones of the project are delivered.
 Effective dissemination of research findings through presentation at national/international
conferences and publication in high quality technical journals.
 Interpersonal skills within a multidisciplinary team including researchers and industrialists

导师相关信息及简介：
First/Lead Supervisor and their contact details：Dr Yan Jin (Associate Professor/Senior Lecturer), Email: y.jin@qub.ac.uk
Tel: +44 (0)28 9097 4102
https://www.qub.ac.uk/schools/Sc ... emicStaff/DrYanJin/

Second Supervisor and their contact details: Prof. Mark Price (Faculty Pro-Vice Chancellor/Vice President of Queen’s University Belfast)
https://pure.qub.ac.uk/portal/en ... -993e5c412cae).html

贝尔法斯特女王大学（Queen\'s University Belfast）于1845年由维多利亚女王建校，因此为女王大学。为英国顶尖名校，全球百强名校。是一所享誉欧洲的公立顶级研究型大学，该校拥有全英国和爱尔兰顶级医学院和工程学院，该校的医学院，商学院，工学院以及管理学院也都在全爱尔兰名列前茅。该大学位于英国的北爱尔兰首府贝尔法斯特，其教研历史悠久，学术成就昭著，是英国和爱尔兰历史最悠久的大学之一，并且也是英国著名的常青藤名校罗素集团大学成员之一。
https://baike.baidu.com/link?url ... ffxyY6DZ_qrSWrVS8hj

相关招聘信息可见学院官网
https://www.qub.ac.uk/schools/Sc ... rospaceEngineering/

如有意愿，可直接联系导师邮箱。欢迎大家咨询。

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