师资队伍

基本信息：清华大学机械工程系长聘教授

书院教学：《机械制造基础》

办公电话： 62797938

Email：wud@tsinghua.edu.cn

个人主页：https://me.tsinghua.edu.cn/info/1100/1640.htm

2003.09-2008.07 清华大学博士

1988.09-1990.07 清华大学硕士

1983.09-1988.07 清华大学学士

清华大学机械工程系教授（2013至今）

清华大学机械工程系副教授（2012-2013）

清华大学精密仪器与机械学系副教授（1998-2012）

清华大学精密仪器与机械学系讲师（1992-1998）

清华大学精密仪器与机械学系助教（1990-1992）

机器人化加工与操作，精密超精密加工工艺

1. 清华大学教学成果二等奖：传承求实作风, 践行求真理念, 培育求新思维——机械工程及自动化专业生产实习探索与实践（2010）。

2. 清华大学教学成果二等奖：机械大类培养模式下制造工程基础平台课的创建与实践（2010）。

3. 北京市教学成果一等奖：机器人创新设计实践教学研究－探究课、SRT、科技竞赛相衔接的教学模式探索（2019）。

4. 清华大学实验技术成果一等奖：MOS仿人足球机器人实践教学平台（2018）。

5. 国家教委科技进步二等奖：基于大行程微位移机构的智能中凸变椭圆活塞数控车削系统（1997）。

6. 国家教委科技进步二等奖：集成化智能化计算机辅助工艺设计系统（1996）。

1. 国家自然科学基金项目，飞机数字化装配制孔错孔机理与工艺控制方法，2016-2019.

2. 国际合作项目，Research on advanced control and applications of collaborative robot, 2018-2019.

3. 摩擦学国家重点实验室项目，叠层构件刀具磨损机理与减磨工艺，2019-2020.

4. 国家重大专项. 飞机数字化装配技术与系统，2012-2018.

5. 国际合作项目，Research on the intelligent control to the 6 axis multi-purpose industrial robot arm，2016-2017.

6. 摩擦学国家重点实验室项目，叠层构件制孔层间毛刺形成机理与工艺控制，2016-2017.

7. 国家自然科学基金项目，面向微注射的细胞力学建模表征与参数优化，2012-2015.

8. 摩擦学国家重点实验项目，碳纤维复合材料/钛合金叠层构件精密制孔机理与工艺研究，2012-2014.

9. 国家863重点项目，生命科学微量样品自动化操作设备，2009-2011.

10. 摩擦学国家重点实验室项目，微结构表面的超精密车削机理与精度提高技术，2009-2011.

11. 摩擦学国家重点实验室重点项目，面向生命科学的机器人微纳理论与技术研究，2008-2011.

12. 国家自然科学基金项目，电磁驱动超高频响直线式微进给系统，2007-2009.

13. 国家自然科学青年基金项目，利用变速加工提高非圆车削精度的机理和方法研究，2002-2004.

14. 国家自然科学基金项目，基于重复控制的直线伺服单元研究，1997-1999.

15. 国家自然科学基金项目，金刚石微粉砂轮超精密磨削，1993-1995.

16. 国家自然科学基金重大项目子项，高频响大行程微进给机构研究，1989-1992.

[1] Yuxi Zhang, Dan Wu, Xingguo Ma, Ken Chen, Yan Guo. Countersink accuracy control of thin-wall CFRP/Al stack drilling based on micro peck strategy.The International Journal of Advanced Manufacturing Technology, 2019, https://doi.org/10.1007/s00170-018-3070-y.

[2] Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen. Impedance control of collaborative robots based on joint torque servo with active disturbance rejection，Industrial Robot-An International Journal, 2019, https://doi.org/10.1108/IR-06-2018-0130.

[3] Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen. Design of direct teaching behavior of collaborative robot based on force interaction. Journal of Intelligent & Robotic Systems, 2019, https://doi.org/10.1007/s10846-019-00986-3.

[4] Xiong Liang, Dan Wu. Tribological properties of carbon-fibre-reinforced plastic against tungsten carbide under dry condition. Tribology International, 2019, 134: 118-128.

[5] Yuxi Zhang, Dan Wu, Ken Chen. A theoretical model for predicting the CFRP drilling-countersinking thrust force of stacks, Composite Structures, 2019, 209: 337-348.

[6] Xiong Liang, Dan Wu, Yuhao Gao, Ken Chen. Investigation on the non-coaxiality in the drilling of carbon-fibre-reinforced plastic and aluminum stacks. International Journal of Machine Tools & Manufacture, 2018, 125: 1-10.

[7] Xinguo Ma, Dan Wu, Yuhao Gao, Xiong Liang, Shijian Huang, Yunfei Dong. An approach to countersink depth control in the drilling of thin-wall stacked structures with low stiffness. The International Journal of Advanced Manufacturing Technology, 2018, 95(1-4): 785-795.

[8] Yuhao Gao, Dan Wu, Xiong Liang, Xinguo Ma, Ken Chen. Evaluation and reduction of the non-coaxiality in stack drilling using the pre-installed fasteners. Journal of Manufacturing Processes, 2018, 34: 40-50.

[9] Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen. Learning-based variable compliance control for robotic assembly. Journal of Mechanisms and Robotics-Transactions of the ASME, 2018,10(6): 061008.

[10] Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen. Collision detection and identification for robot manipulators based on extended state observer. Control Engineering and Practice, 2018，79:144-153.

[11] Yunfei Dong, Tianyu Ren, Dan Wu, Ken Chen. An efficient robot payload identification method for industrial application，Industrial Robot-The International Journal of Robotics Research and Application, 2018, 45(4): 505-515.

[12] Yunfei Dong, Tianyu Ren, Dan Wu, Ken Chen. An accurate on-Line correction strategy for gravity compensation aiming at teaching by touch of collaborative robots. Proceedings of the ASME 2018 International Mechanical Engineering Congress and Exposition, IMECE 2018, Pittsburgh, USA.

[13] 张玉玺, 吴丹, 杨亚鹏, 马信国, 梁雄. 冷却润滑方式对CFRP/Al叠层钻孔质量及轴向力的影响. 清华大学学报(自然科学版)，2018, (4): 402-410.

[14] Yuhao Gao, Dan Wu, Yunfei Dong, Xinguo Ma, Ken Chen. The method of aiming towards the normal direction for robotic drilling. International Journal of Precision Engineering and Manufacture, 2017, 18(6): 787-794.

[15] 吴丹，黄诗剑，高雨浩，董云飞，马信国. 铝合金叠层板钻削层间毛刺高度预测模型. 2017, 57(6) :591-596.

[16] Tianyu Ren, Yunfei Dong, Dan Wu, Guolei Wang, Ken Chen Ken. Joint torque control of a collaborative robot based on active disturbance rejection with the consideration of actuator delay. Proceedings of the ASME 2017 International Mechanical Engineering Congress and Exposition, IMECE2017.

[17] 南成根, 吴丹, 马信国, 陈恳. 碳纤维复合材料/钛合金叠层钻孔质量研究. 机械工程学报，2016, 52(11): 177-185.（荣获机械工程学报第二届高影响力论文奖）

[18] 陈恳, 阮和平, 吴丹, 刘飞. 振动研磨过程中研磨参数的定量研究. 清华大学学报（自然科学版）, 2016, (3): 328-333.

[19] Yuhao Gao, Dan Wu, Chenggen Nan, Xinguo Ma, Yunfei Dong, Ken Chen. The interlayer gap and non-coaxiality in stack drilling. International Journal of Machine Tools & Manufacture, 2015, 99(12): 68-76.

[20] Yuhao Gao, Dan Wu, Chenggen Nan, Ken Chen. Normal direction measurement in robotic drilling and precision calculation. International Journal of Advanced Manufacturing Technology, 2015, 76(5-8):1311-1318.

[21] Fei Liu, Dan Wu, Xiaoyong Wu, Ken Chen. Analyses of the cell mechanical damage during microinjection. Softer Matter, 2015, 11(7): 1434-1442.

[22] 南成根, 吴丹, 马信国, 陈恳. CFRP/Al叠层钻孔粉状切屑对加工质量的影响. 清华大学学报. 2015, 55(3):279-284.

[23] Chenggen Nan, Dan Wu, Yuhao Gao, Ken Chen. Influence of Metal Chips on Drilling Quality of Carbon Fibre Reinforced Plastic and Titanium Stacks., Proceedings of the 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), Shenyang, China, 6-8 June, 2015, pp.1204-1209. (EI源)

[24] Xinguo Ma, Dan Wu, Chenggen Nan, Yuhao Gao. Quantitative Analysis and Improvement of Countersink Depth in Stack Drilling. Proceedings of the ASME 2015 International Mechanical Engineering Congress and Exposition, IMECE2015.

[25] Dan Wu, Ken Chen. Limit cycle analysis of active disturbance rejection control system with two nonlinearities. ISA Transactions，2014,53(4):947-954.

[26] Fei Liu, Dan Wu, Ken Chen. Ligands influence a carbon nanotube penetration through a lipid bilayer. Journal of Nanoparticle Research, 2014: 16:2692.

[27] Fei Liu, Dan Wu, Ken Chen. A zebrafish embryo behaves both as a “cortical shell– liquid core” structure and a homogeneous solid when experiencing mechanical forces. Microscopy and Microanalysis, 2014, 20(6):1841-1847.

[28] Yuhao Gao, Dan Wu, Chenggen Nan, Xinguo Ma, Ken Chen. Optimization design for normal direction measurement in robotic drilling. Proceedings of the ASME 2014 International Mechanical Engineering Congress & Exposition, IMECE2014.

[29] Dan Wu, Ken Chen. Frequency domain analysis of nonlinear active disturbance rejection control via the describing function method. IEEE Transactions on Industrial Electronics, 2013, 60(9): 3906-3914.

[30] Fei Liu, Dan Wu, Roger D. Kamm, Ken Chen. Analysis of nanoprobe penetration through a lipid bilayer. Biochimica et Biophysica Acta (BBA) - Biomembranes, 2013, 1828(8):1667-1673.

[31] Fei Liu, Dan Wu, Ken Chen. Mechanical behavior of cells in microinjection: A minimum potential energy study. Journal of the Mechanical Behavior of Biomedical Materials, 2013, 24: 1-8.

[32] Fei Liu, Dan Wu, Ken Chen. The Simplest Creeping Gait for a Quadruped Robot, Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, 2013, 227(1):170-177.

[33] 吴丹，赵彤，陈恳. 快速刀具伺服系统自抗扰控制的研究与实践. 控制理论与应用. 2013,30(12): 1-9.

[34] 任书楠，吴丹，陈恳. 钻削碳纤维增强型复合材料的主切削刃轴向力. 清华大学学报（自然科学版）, 2013, 53(4): 487-492.

[35] Dan Wu, Libin Song, Ken Chen,Fei Liu. Modelling and hydrostatic analysis of contact printing microarrays by quill pins. International Journal of Mechanical Sciences, 2012, 54(1): 206-212.

[36] Dan Wu, Shunyan Zhou, Xiaodan Xie. Design and control of an electromagnetic fast tool servo with high bandwidth. IET Electric Power Applications, 2011, 5(2):217-223.

[37] Dan Wu, Ken Chen. Chatter suppression in fast tool servo-assisted turning by spindle speed variation. International Journal of Machine Tools & Manufacture, 2010, 50(12): 1038-1047.

[38] Dan Wu, Xiaodan Xie, Shunyan Zhou. Design of a normal stress electromagnetic fast linear actuator. IEEE Transactions on Magnetics, 2010, 46(4):1007-1014.

[39] Dan Wu, Ken Chen. Design and Analysis of Precision Active Disturbance Rejection Control for Noncircular Turning Process. IEEE Transactions on Industrial Electronics, 2009, 56(7): 2746-2753.

[40] Dan Wu, Tong Zhao, Ken Chen, Xiankui Wang. Application of active disturbance rejection control to variable spindle speed noncircular turning process. International Journal of Machine Tools& Manufacture, 2009, 49(5):419-423.

[41] Dan Wu, Ken Chen, Xiankui Wang. An investigation of practical application of variable spindle speed machining to noncircular turning process. International Journal of Advanced Manufacturing Technology, 2009, 44(11):1094-1105.

[42] Dan Wu, Ken Chen, Xiankui Wang. Tracking control and active disturbance rejection with application to noncircular machining. International Journal of Machine Tools&Manufacture. 2007, 47(15): 2207-2217.

授权发明专利：

[1] 一种复杂结构件内外孔自动识别与作业单元分配方法，专利号ZL2016104660599，授权日期20181130.

[2] 龙门制孔机床加工碰撞检测分析方法，专利号ZL2016110876660，授权日期20181002.

[3] 龙门制孔机床点位精度评价方法，专利号ZL2016106256523，授权日期20180727.

[4] 一种龙门式多主轴制孔组合机床的零点定义与标定方法，专利号ZL2016103879626，授权日期20180615.

[5] 悬臂式薄板受力弯曲变形的简化算法，专利号ZL2015107367618，授权日期20180529.

[6] 制孔法向调整方法，专利号ZL2015107377817，授权日期20180109.

[7] 薄板叠层孔的错孔量评价方法，专利号ZL2015107376759，授权日期20171024.

[8] 数字化制孔机床的试刀系统，专利号ZL201410549157X，授权日期20170811.

[9] 制孔作业用装置，专利号ZL2015107372955，授权日期20170804.

[10] 工业机器人示教系统，专利号ZL2015100246966，授权日期20170220.

[11] 多通道制孔机床的控制系统，专利号ZL2014107905508，授权日期20170125.

[12] 压紧装置，专利号ZL2015100248482，授权日期20170125.

[13] 数控龙门机床，专利号ZL2014107909937，授权日期20170118.

[14] 曲面法矢测量精度的计算方法，专利号ZL2014102726925，授权日期20170104.

[15] 曲面法矢测量精度的优化方法，专利号ZL201410271432.6，授权日期20160921.

[16] 锪窝装置，专利号ZL 201510024825.1，授权日期20160921.

[17] 非规则深内腔加工的刀杆支撑系统，专利号ZL201410549147.6，授权日期20160824.

[18] 集成化双工位飞行器产品的装配系统，专利号ZL 201410248818.5，授权日期20160824.

[19] 龙门双立柱机床的平衡系统，专利号ZL201410549205.5，中国，授权日期20160817.

[20] 用于龙门机床的力平衡系统，专利号ZL201410548921.1，授权日期20160601.

[21] 五轴制孔机床的排屑系统，专利号ZL201410549213.X，授权日期20160601.

[22] 飞行器产品前段部件开放式装配定位系统，专利号ZL201410248691.7，授权日期20160525.

[23] 飞行器产品后段部件移动式定位装置，专利号ZL 201410248710.6，授权日期20160525.

[24] 基于开放式装配定位的飞行器产品后段部件的装配系统，专利号ZL 2014102487337，授权日期20160518.

[25] 飞行器产品后段部件开放式装配定位系统，专利号ZL 201410248730.3，授权日期20160427.

[26] 飞行器产品前段部件的固定式定位装置，专利号ZL 201410248689.X，授权日期20160427.

[27] 飞行器产品前段部件的移动式定位装置，专利号ZL 201410248649.5，授权日期20160427.

[28] 制孔装置，专利号ZL 201410252885.4，授权日期20160413.

[29] 用于大型装备制造的工作平台系统，专利号ZL 201410253004.0，授权日期20160413.

[30] 用于大型装备制造的工作平台系统，专利号ZL201410253370.6，授权日期20160406.

[31] 工装定位器，专利号ZL2014102528820，授权日期20150819.

[32] 基于电磁驱动研磨和离心分离的生物组分自动化提取装置，专利号ZL 201010564821.X,授权日期20130703.

[33] 一种生物组分自动化提取装置，专利号 ZL 201010564824.3. 授权日期20130703.

[34] 一种原位研磨、离心装置，专利号ZL201010273539.6，授权日期20121226.

[35] 用于异形狭长管道喷涂的内壁喷涂机器人系统及方法，专利号ZL200910089261，授权日期20120905.

[36] 内壁喷涂机器人系统及内壁喷涂方法，专利号ZL200910089261，授权日期20120905.

[37] 用于喷涂机器人的防爆旋转装置，专利号ZL200910236114，授权日期20111228.

[38] 一种多级直线伸缩单元运动布线拖链结构，专利号ZL200910089609，授权日期20111109.

[39] 一种整体式的点样针清洗装置，专利号ZL200910241631.1,授权日期 20110629.

[40] 悬臂梁振荡抑制装置，专利号ZL200910236115，授权日期20110629.

[41] 无稳压器长尺寸喷涂管道压力稳定装置，专利号200910091298，授权日期20110511.

[42] 一种轮足两用机器人腿，专利号ZL200810057401.5, 授权日期20110511.

[43] 涂料管道免拆清洗方法，专利号ZL200910091299，授权日期20110330.

[44] 冗余机器人布线防缠绕和挤压装置，专利号ZL200910089179，授权日期20110330.

[45] 多级伸缩式冗余自由度操作臂，专利号ZL200910090577，授权日期20110105.

[46] 管道喷涂机器人及其作业轨迹规划方法，专利号ZL 200910090827.5,授权日期 20110126.

[47] 轮足两用式移动机器人，专利号ZL200810056851.2, 授权日期20100908.

[48] 仿生轮足两用式机器人，专利号ZL200810057399.1, 授权日期20100908.