CJME2025年4期目錄——紀念張啟先院士誕辰100周年專刊

為紀念我國空間機構(gòu)學(xué)與機器人技術(shù)奠基人張啟先院士誕辰100周年，CJME編輯部出版紀念專刊，以緬懷和傳承張先生“獻身科學(xué)、勤勞一生”的崇高精神，弘揚我國科技工作者的不懈追求和使命擔(dān)當。張啟先院士對我國空間機構(gòu)學(xué)理論及應(yīng)用做出了開創(chuàng)性貢獻，并以敏銳的眼光和無畏的勇氣，在國內(nèi)率先開展了機構(gòu)學(xué)與機器人學(xué)的跨學(xué)科研究，開拓了我國機器人機構(gòu)學(xué)領(lǐng)域多項前瞻性研究。本專刊旨在緬懷張先生的科學(xué)精神，回顧其卓越的學(xué)術(shù)成就與教育貢獻，同時展示機構(gòu)學(xué)與機器人技術(shù)的最新研究進展，激勵更多科研工作者繼承與發(fā)展張先生的學(xué)術(shù)思想，助力機構(gòu)學(xué)與機器人學(xué)領(lǐng)域研究的傳承與創(chuàng)新， 為國家科技創(chuàng)新和人才培養(yǎng)貢獻力量。專刊共刊載論文34篇，于2025年4期正式出版，歡迎大家下載閱讀。

Design, Analysis, and Testing of a Novel 5-DOF Flexure-based Alignment Stage

一種基于柔性機構(gòu)的新型五自由度對準平臺設(shè)計、分析與測試

作者：

Shang Yang, Yuxia Li, Weihai Chen, Shasha Chen, Lei Wang & Xiantao Sun

引用：

Yang, S., Li, Y., Chen, W. et al. Design, Analysis, and Testing of a Novel 5-DOF Flexure-Based Alignment Stage. Chin. J. Mech. Eng. 38, 172 (2025). https://doi.org/10.1186/s10033-025-01332-5

Reconfigurable Parallel Mechanism with Metamorphic Diamond-like Chain: Design and Mode Switching

具有變胞類菱形鏈的可重構(gòu)并聯(lián)機構(gòu)：設(shè)計與模式切換

作者：

Duanling Li, Yutong Yuan, Jian Jiao, Wensi Wang, Longjie Fan & Jiahui Cai

引用：

Li, D., Yuan, Y., Jiao, J. et al. Reconfigurable Parallel Mechanism with Metamorphic Diamond-like Chain: Design and Mode Switching. Chin. J. Mech. Eng. 38, 156 (2025). https://doi.org/10.1186/s10033-025-01343-2

Design and Experimental Validation of a Hybrid-Driven 6-PUS Parallel Manipulator for High-Speed, Heavy-Load Marine Nuclear Equipment Sway Testing

用于海洋核設(shè)備高速重載擺動測試的混合驅(qū)動6-PUS并聯(lián)機構(gòu)的設(shè)計與實驗驗證

作者：

Changlei Shao, Kun Zhang, Xiaoming He, Yan Hu, Chengwu Li, Zhijun Chen, Jingdong Hu, Wei Shi & Feng Gao

引用：

Shao, C., Zhang, K., He, X. et al. Design and Experimental Validation of a Hybrid-Driven 6-PUS Parallel Manipulator for High-Speed, Heavy-Load Marine Nuclear Equipment Sway Testing. Chin. J. Mech. Eng. 38, 142 (2025). https://doi.org/10.1186/s10033-025-01333-4

Design and Control of a Piezoelectric-actuated Kangaroo-inspired Bionic Compliant Mechanism for LDI Machines

袋鼠啟發(fā)的壓電驅(qū)動LDI機仿生柔順機構(gòu)設(shè)計與控制

作者：

Ruizhou Wang, Long Yang, Zhouliang Li, Hua Wang & Xianmin Zhang

引用：

Wang, R., Yang, L., Li, Z. et al. Design and Control of a Piezoelectric-actuated Kangaroo-inspired Bionic Compliant Mechanism for LDI Machines. Chin. J. Mech. Eng. 38, 116 (2025). https://doi.org/10.1186/s10033-025-01307-6

Shape-Reconfigurable Deployable Paraboloid Reflector Based on a 7R-8R Truss Network

基于7R-8R連桿網(wǎng)格的形態(tài)可重構(gòu)可展拋物面反射器

作者：

Tianshu Wang, Yuanqing Gu & Yan Chen

引用：

Wang, T., Gu, Y. & Chen, Y. Shape-Reconfigurable Deployable Paraboloid Reflector Based on a 7R-8R Truss Network. Chin. J. Mech. Eng. 38, 124 (2025). https://doi.org/10.1186/s10033-025-01302-x

Generative Design of Deployable Origami Structures for Space Planar Phased Array Antennas

面向空間平面相控陣天線的可展開折紙結(jié)構(gòu)生成式設(shè)計

作者：

Yihang Wang, Yongsheng Zhao, Bo Han, Jinming Dong, Meng Han & Jiantao Yao

引用：

Wang, Y., Zhao, Y., Han, B. et al. Generative Design of Deployable Origami Structures for Space Planar Phased Array Antennas. Chin. J. Mech. Eng. 38, 126 (2025). https://doi.org/10.1186/s10033-025-01301-y

https://cjme.springeropen.com/articles/10.1186/s10033-025-01301-y

Design and Implementation of an Intelligent Percussion-Based Sputum Clearance Robot

一種新型變寬度足式機器人：單自由度過約束變形軀干機構(gòu)與形態(tài)自適應(yīng)足式運動

作者：

Yue Pan, Min Wang, Yuanhai Huang, Pengfei Lv, Letian Tao & Diansheng Chen

引用：

Pan, Y., Wang, M., Huang, Y. et al. Design and Implementation of an Intelligent Percussion-Based Sputum Clearance Robot. Chin. J. Mech. Eng. 38, 144 (2025). https://doi.org/10.1186/s10033-025-01331-6

An Accurate Modeling Approach of Contact Stiffness in Milling Tool-holder Interface Using Fractal Theory

智能拍背排痰機器人的設(shè)計與實現(xiàn)

作者：

Yawei Zheng, Zhengcai Zhao, Yang Zhou and Jiuhua Xu

引用：

Zheng, Y., Zhao, Z., Zhou, Y. et al. An Accurate Modeling Approach of Contact Stiffness in Milling Tool-holder Interface Using Fractal Theory. Chin. J. Mech. Eng. 38, 82 (2025). https://doi.org/10.1186/s10033-025-01236-4

Kinematically coupled multi-output component mechanism design for rehabilitation robots

面向康復(fù)機器人的運動耦合多輸出構(gòu)件機構(gòu)設(shè)計方法

作者：

Ye Zhang, Hui Bian, Bokang Yin, Jiale Ge & Tieshi Zhao

引用：

Zhang, Y., Bian, H., Yin, B. et al. Kinematically Coupled Multi-Output Component Mechanism Design for Rehabilitation Robots. Chin. J. Mech. Eng. 38, 157 (2025). https://doi.org/10.1186/s10033-025-01326-3

Design, Kinematic Modeling, and Validation of a Helical-Coiled Multi-Segment Flexible Continuum Robot

螺旋卷繞式多節(jié)柔性連續(xù)體機器人設(shè)計、運動學(xué)建模與驗證

作者：

Kai Liu, Zhidong Sun, Duanling Li, Chunxu Song & Guohua Gao

引用：

Liu, K., Sun, Z., Li, D. et al. Design, Kinematic Modeling, and Validation of a Helical-Coiled Multi-Segment Flexible Continuum Robot. Chin. J. Mech. Eng. 38, 164 (2025). https://doi.org/10.1186/s10033-025-01322-7

Design and Development of an Inchworm-like Robot with Its Generalized Climbing Path Planning

一種仿尺蠖機器人及其廣義攀爬路徑規(guī)劃的設(shè)計與開發(fā)

作者：

Minglei Zhu, Yaning Du, Xingyu Chen, Dawei Gong, Weidong Guo & Shijie Song

引用：

Zhu, M., Du, Y., Chen, X. et al. Design and Development of an Inchworm-Like Robot with Its Generalized Climbing Path Planning. Chin. J. Mech. Eng. 38, 147 (2025). https://doi.org/10.1186/s10033-025-01327-2

Structural Design and Performance Evaluation of a Novel Reduction Robot for Long-Bone Fracture

一種新型長骨骨折復(fù)位機器人的結(jié)構(gòu)設(shè)計與性能評估

作者：

Yadong Zhu, Mingjie Dong, Qinglong Lun, Wei-Hsin Liao, Shiping Zuo, Jingxin Zhao & Jianfeng Li

引用：

Zhu, Y., Dong, M., Lun, Q. et al. Structural Design and Performance Evaluation of a Novel Reduction Robot for Long-Bone Fractures. Chin. J. Mech. Eng. 38, 113 (2025). https://doi.org/10.1186/s10033-025-01282-y

Design, Analysis and Experiment of Automatic Lettuce Harvesting Mechanism

自動生菜采收機構(gòu)的設(shè)計、分析與實驗

作者：

Ruoyuan Liu, Mingjie Dong, Qi Xiao, Changqi Lv & Ziqiang Zhang

引用：

Liu, R., Dong, M., Xiao, Q. et al. Design, Analysis, and Experiment of an Automatic Lettuce-Harvesting Mechanism. Chin. J. Mech. Eng. 38, 175 (2025). https://doi.org/10.1186/s10033-025-01288-6

Online Compensation Method for Contour Error in the Parallel Module of a Hybrid Gantry Machining Center

一種混聯(lián)龍門加工中心并聯(lián)加工模塊的輪廓誤差在線補償方法

作者：

Jie Wen, Fugui Xie, Zenghui Xie & Xinjun Liu

引用：

Wen, J., Xie, F., Xie, Z. et al. Online Compensation Method for Contour Error in the Parallel Module of a Hybrid Gantry Machining Center. Chin. J. Mech. Eng. 38, 146 (2025). https://doi.org/10.1186/s10033-025-01300-z

A model-data driven approach for calibration of a 5-DOF hybrid machining robot

基于模型-數(shù)據(jù)驅(qū)動的五自由度混聯(lián)加工機器人標定方法

作者：

Haitao Liu, Zhibiao Yan, Conglin Wu & Tian Huang

引用：

Liu, H., Yan, Z., Wu, C. et al. A Model-Data Driven Approach for Calibration of a 5-DOF Hybrid Machining Robot. Chin. J. Mech. Eng. 38, 170 (2025). https://doi.org/10.1186/s10033-025-01338-z

Bio-inspired Vision Mapping and Localization Method based on the Reprojection Error Optimization and Asynchronous Kalman Fusion

基于重投影誤差優(yōu)化與異步卡爾曼融合的生物啟發(fā)視覺建圖與定位方法

作者：

Shijie Zhang, Tao Tang, Taogang Hou, Yuxuan Huang, Xuan Pei & Tianmiao Wang

引用：

Zhang, S., Tang, T., Hou, T. et al. Bio-inspired Vision Mapping and Localization Method Based on Reprojection Error Optimization and Asynchronous Kalman Fusion. Chin. J. Mech. Eng. 38, 163 (2025). https://doi.org/10.1186/s10033-025-01342-3

Dynamic Modeling and Adaptive Control of Cable-Driven Redundant Manipulator

繩驅(qū)動冗余機械臂的動力學(xué)建模與自適應(yīng)控制

作者：

Zihao Wang, Haifeng Zhang, Tengfei Tang & Qinchuan Li

引用：

Wang, Z., Zhang, H., Tang, T. et al. Dynamic Modeling and Adaptive Control of Cable-Driven Redundant Manipulator. Chin. J. Mech. Eng. 38, 129 (2025). https://doi.org/10.1186/s10033-025-01261-3

Method for Decreasing the Peak Actuating Force and Parasitic Displacements of 4-4R Compliant Parallel Pointing Mechanism through Redundant-actuation

通過冗余驅(qū)動降低4-4R柔順并聯(lián)指向機構(gòu)峰值驅(qū)動力和寄生位移的方法

作者：

Jun Ren, Yikang Shu & Shusheng Bi

引用：

Ren, J., Shu, Y. & Bi, S. Method for Decreasing the Peak Actuating Force and Parasitic Displacements of 4-4R Compliant Parallel Pointing Mechanism through Redundant-actuation. Chin. J. Mech. Eng. 38, 179 (2025). https://doi.org/10.1186/s10033-025-01272-0

https://cjme.springeropen.com/articles/10.1186/s10033-025-01272-0

An integrated framework of grasp detection and imitation learning for space robotics applications

一種面向空間機器人應(yīng)用的抓取檢測與模仿學(xué)習(xí)集成框架

作者：

Yuming Ning, Tuanjie Li, Yulin Zhang, Ziang Li, Wenqian Du & Yan Zhang

引用：

Ning, Y., Li, T., Zhang, Y. et al. An Integrated Framework of Grasp Detection and Imitation Learning for Space Robotics Applications. Chin. J. Mech. Eng. 38, 139 (2025). https://doi.org/10.1186/s10033-025-01321-8

Human-Inspired Foot-Spine Coordination Control for Stable Landing of Jumping Robots

受人類啟發(fā)的足部-脊柱協(xié)調(diào)控制用于跳躍機器人穩(wěn)定著陸

作者：

Rui Chen, Hao Yang, Qian Feng, Li Bai, Lifu Liu, Zean Yuan, Huijiang Wang, Lunfei Liang, Pei Jiang & Jun Luo

引用：

Chen, R., Yang, H., Feng, Q. et al. Human-Inspired Foot-Spine Coordination Control for Stable Landing of Jumping Robots. Chin. J. Mech. Eng. 38, 178 (2025). https://doi.org/10.1186/s10033-025-01330-7

Locking Force and Stiffness Oriented Design for an SMA-Actuated Miniaturized Lockable Prismatic Joint

一種SMA驅(qū)動的可鎖定直線關(guān)節(jié)的鎖緊力和剛度設(shè)計

作者：

Jieyu Wang, Jianping Yu, Shiwei Tian, Liqian Zhao, Fengfeng Xi, Yinjun Zhao & Guangbo Hao

引用：

Wang, J., Yu, J., Tian, S. et al. Locking Force and Stiffness Oriented Design for an SMA-Actuated Miniaturized Lockable Prismatic Joint. Chin. J. Mech. Eng. 38, 137 (2025). https://doi.org/10.1186/s10033-025-01320-9

MonoTracker: Monocular-Based Fully Automatic Registration and Real-time Tracking Method for Neurosurgical Robots

MonoTracker：一種面向神經(jīng)外科手術(shù)機器人的單目全自動配準與實時跟蹤方法

作者：

Kai Chen, Diansheng Chen, Ruijie Zhang, Cai Meng & Zhouping Tang

引用：

Chen, K., Chen, D., Zhang, R. et al. MonoTracker: Monocular-Based Fully Automatic Registration and Real-Time Tracking Method for Neurosurgical Robots. Chin. J. Mech. Eng. 38, 168 (2025). https://doi.org/10.1186/s10033-025-01334-3

A collaborative control method of forging force for double?sided friction stir welding based on reference admittance model

一種基于參考導(dǎo)納模型的雙面同時攪拌摩擦焊頂鍛力協(xié)同控制方法

作者：

Kangge Gao, Bo Zhou, Juliang Xiao, Wu Liu, Shaofei Meng, Mingli Wang, Haitao Liu & Yanbing Ni

引用：

Gao, K., Zhou, B., Xiao, J. et al. A Collaborative Control Method of Forging Force for Double?Sided Friction Stir Welding Based on Reference Admittance Model. Chin. J. Mech. Eng. 38, 131 (2025). https://doi.org/10.1186/s10033-025-01305-8

Anatomical Feature Constrained Path Planning for Robot-Assisted Pedicle Screw Placement Surgery

基于解剖特征約束的機器人輔助椎弓根螺釘置入手術(shù)路徑規(guī)劃

作者：

Yanding Qin, Jianpeng Liu, Pengxiu Geng, Hongpeng Wang, Mengmeng Zhou, Rusen Zhu & Jianda Han

引用：

Qin, Y., Liu, J., Geng, P. et al. Anatomical Feature Constrained Path Planning for Robot-Assisted Pedicle Screw Placement Surgery. Chin. J. Mech. Eng. 38, 132 (2025). https://doi.org/10.1186/s10033-025-01309-4

Hand-Eye Coordinated Grasping Method for Textured Targets in Unstructured Dynamic Scenes

非結(jié)構(gòu)動態(tài)場景下紋理目標的手眼協(xié)同抓取方法

作者：

Yazhe Luo, Sipu Ruan, Yifei Li & Diansheng Chen

引用：

Luo, Y., Ruan, S., Li, Y. et al. Hand-Eye Coordinated Grasping Method for Textured Targets in Unstructured Dynamic Scenes. Chin. J. Mech. Eng. 38, 160 (2025). https://doi.org/10.1186/s10033-025-01344-1

Active Precision Adjustment Mechanism for Large Space Reflectors

大型空間反射面主動精度調(diào)整機構(gòu)

作者：

Haitao Wang, Bo Li & Yi Yang

引用：

Wang, H., Li, B. & Yang, Y. Active Precision Adjustment Mechanism for Large Space Reflectors. Chin. J. Mech. Eng.38, 167 (2025). https://doi.org/10.1186/s10033-025-01313-8

Novel Haptic Device and Control Strategy for Manipulator Teleoperation in Nuclear and Aerospace Tasks

核能與航天任務(wù)中機械臂遙操作的新型觸覺裝置及控制策略

作者：

Yuanzhen Niu, Ge Huang, Jintao An, Yi Wang & Guanyang Liu

引用：

Niu, Y., Huang, G., An, J. et al. Novel Haptic Device and Control Strategy for Manipulator Teleoperation in Nuclear and Aerospace Tasks. Chin. J. Mech. Eng. 38, 188 (2025). https://doi.org/10.1186/s10033-025-01351-2

Transient Dynamic Research of Deployable and Lockable Mechanism for Multi-Wing Considering Multiple Factors

考慮多因素的多翼瞬態(tài)展開-鎖定機構(gòu)動力學(xué)研究

作者：

Guangqing Zhai, Jianguo Tao, Hong Xiao, Chen Yao, Runchao Zhao, Hongwei Guo, Guang Yang & Rongqiang Liu

引用：

Zhai, G., Tao, J., Xiao, H. et al. Transient Dynamic Research of Deployable and Lockable Mechanism for Multi-Wing Considering Multiple Factors. Chin. J. Mech. Eng. 38, 145 (2025). https://doi.org/10.1186/s10033-025-01285-9

Comparison Study on the Motion/Force Transmissibility of Four 6-DOF Parallel Mechanisms

四種六自由度并聯(lián)機構(gòu)運動/力傳遞性能的對比研究

作者：

Hongye Wu, Haitao Liu, Xianlei Shan & Wei Yue

引用：

Wu, H., Liu, H., Shan, X. et al. Comparison Study on the Motion/Force Transmissibility of Four 6-DOF Parallel Mechanisms. Chin. J. Mech. Eng. 38, 134 (2025). https://doi.org/10.1186/s10033-025-01324-5

Synthesis of and Experiment on a Morphing Nose Cone Driven by a Biomimetic 4-3R1U&3R Parallel Mechanism

由仿生4-3R1U＆3R并聯(lián)機構(gòu)驅(qū)動的變形頭錐的合成與實驗

作者：

Hui Yang, Zhonghao Huang, Yan Wang, Yongsheng Zhao, Yanpu Yao & Shangling Qiao

引用：

Yang, H., Huang, Z., Wang, Y. et al. Synthesis of and Experiment on a Morphing Nose Cone Driven by a Biomimetic 4-3R1U&3R Parallel Mechanism. Chin. J. Mech. Eng. 38, 152 (2025). https://doi.org/10.1186/s10033-025-01308-5

Conformal Geometric Algebra-based Forward Kinematics Analysis Method for the (2-SPR+RPS)+(3-SPR) Serial-Parallel Hybrid Mechanism

(2-SPR+RPS)+(3-SPR)串并混聯(lián)機構(gòu)的共形幾何代數(shù)正運動學(xué)分析方法

作者：

Zhonghai Zhang, Dongyang Zhu & Duanling Li

引用：

Zhang, Z., Zhu, D. & Li, D. Conformal Geometric Algebra-based Forward Kinematics Analysis Method for the (2-SPR+RPS)+(3-SPR) Serial-Parallel Hybrid Mechanism. Chin. J. Mech. Eng. 38, 140 (2025). https://doi.org/10.1186/s10033-025-01325-4

Thick-Panel Origami-Inspired Multiple Metamorphic Mechanisms with Planar-Spherical-Bennett Bifurcated Cycle

具有平面-球面-Bennett分岔循環(huán)的厚板折紙衍生多重變胞機構(gòu)

作者：

Yuyao Chen, Xi Kang & Bing Li

引用：

Chen, Y., Kang, X. & Li, B. Thick-Panel Origami-Inspired Multiple Metamorphic Mechanisms with Planar-Spherical-Bennett Bifurcated Cycle. Chin. J. Mech. Eng. 38, 130 (2025). https://doi.org/10.1186/s10033-025-01312-9

Configuration Synthesis and Analysis of Capture Origami Mechanism Based on Graph Theory

基于圖論的抓捕折紙機構(gòu)構(gòu)型綜合與分析

作者：

Hui Yang, Chuanlu Zhu, Chuanyang Li, Yan Wang, Jiantao Yao & Yongsheng Zhao

引用：

Yang, H., Zhu, C., Li, C. et al. Configuration Synthesis and Analysis of Capture Origami Mechanism Based on Graph Theory. Chin. J. Mech. Eng. 38, 169 (2025). https://doi.org/10.1186/s10033-025-01337-0

Dynamics of Generalized Space-Deployable Mechanisms Based on the Local Frame of the SE(3) Group

基于SE(3)群局部框架的廣義空間可展開機構(gòu)動力學(xué)

作者：

Zijie Zeng, Tuanjie Li & Hangjia Dong

引用：

Zeng, Z., Li, T. & Dong, H. Dynamics of Generalized Space-Deployable Mechanisms Based on the Local Frame of the SE(3) Group. Chin. J. Mech. Eng. 38, 136 (2025). https://doi.org/10.1186/s10033-025-01314-7

責(zé)任編輯：杜蔚杰

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