李海洋，博士，副教授，博士生导师，硕士生导师，入选“国家高层次留学人才回国资助”计划。2017年2月获得科克大学电气工程专业博士学位，随后在爱尔兰丁达尔国家研究院光子研究中心任博士后研究员。2020年7月加入大连理工大学，任副教授。研究兴趣包括：轮足智能车辆/机器人、陆空两栖车辆/机器人、模块化车辆/机器人、医疗机器人、“刚-柔-软”融合特种机构及机器人等。主持或参加的科研项目主要包括：国家高层次留学人才回国资助项目、国家自然科学基金面上项目、国家重点研发计划、中央高校基本科研业务项目、爱尔兰国家科委项目、爱尔兰国家基金委项目、爱尔兰-法国合作项目、美国SUNSTAR医疗设备有限公司项目、辽宁省科技创新重点专项、大连市揭榜挂帅项目、中国北方车辆研究所项目、华为技术有限公司项目、航天二院项目。已经在MMT，JMD，JMR，IEEE Sensors Journal以及机械工程学报等期刊发表论文近50篇，近5年申请中国发明专利15项，国际发明专利1项，其中授权发明专利7项。获得ASME奖励和荣誉2项，集团公司级科技奖励2项。担任期刊IEEE Robotics and Automation Letters (RA-L)副主编，期刊ASME Letters in Translational Robotics副主编，期刊Mechanical Sciences (MS)副主编，期刊Sensors的客座副主编，期刊MS的客座副主编，IEEE AISP2020国际会议组委会委员，2021年 IEEE/ASME智能机电国际会议柔顺机构论坛Co-organizer，2021年至2024年连续4届ASME国际大学生机构与机器人设计大赛Co-chair。

欢迎对上述研究方向感兴趣的同学报考硕士研究生、博士研究生（考生不限学科背景，但要与导师进行交流和双选），团队有良好的学习氛围和条件。

学生去向

陈伟伟：中国广核集团有限公司，2024年6月硕士研究生毕业

冷初阳：留课题组继续攻读博士学位，2024年6月硕士研究生毕业

任晓泽：比亚迪股份有限公司，2024年6月硕士研究生毕业

王一冉：出国继续攻读博士学位，2022年6月硕士研究生毕业

王志鹏：中国航天科工集团公司-航天新光，2022年6月硕士研究生毕业

学生荣誉

11）王千旭，2024年11月收到“中国兵器工业集团*头部研究所表扬信”，感谢其在模块化车辆相关研究中的重要贡献（课题组参照研究生国家奖学金标准进行额外奖励）；

10）易龙腾，获得2024年研究生“国家奖学金”；

9）易龙腾，获得2024年大连理工大学“优秀研究生”；

8）王洪业，获得2024年国际康复工程与康复机器人大会“最佳论文奖”；

7）王洪业，获得2024年国际康复工程与康复机器人大会“最佳报告奖”；

6）金楚涵，获得2024年大连理工大学优秀“本科”毕业论文；

5）冷初阳，获得2024年大连理工大学优秀“硕士”毕业论文；

4）冷初阳，获得2023年研究生“国家奖学金”（2023年度汽车工程学院全体硕士研究生唯一入选者）；

3）金楚涵、张飞越、张骞文，获得在美国Boston举办的美国机械工程师协会2023年大学生机构和机器人大赛（ASME SMRDC 2023）本科生组“第二名”，并授权国家发明专利1项；

2）冷初阳和任晓泽，经过激烈竞争获得2022年校级“优秀研究生”荣誉（课题组当时一共有5位研究生，只有冷初阳和任晓泽这2位同学刚刚升入研究生二年级，且全部获奖，其余3名同学是刚刚入学的一年级新生）；

1）周绍杰、赵慧文、于贵宁、王伽纹、韩飞扬，获得在美国Missouri州St. Louis市举办的美国机械工程师协会2022年大学生机构和机器人大赛（ASME SMRDC 2022）本科生组“第一名”，并授权国家发明专利1项。

科研项目

16）中国**车辆研究所委托项目，陆空两栖汽车设计及控制，2024.06.01~2025.05.31，在研，项目负责人；

15）国家高层次留学人才回国资助项目，柔顺机构多物理场耦合动力学行为研究，2023.10.11~2026.10.10，在研，项目负责人；

14）中国**车辆研究所委托项目，模块化特种车辆智能锁解系统，2023.10.01~2024.09.30，在研，项目负责人；

13）中国航天科工*院委托项目，无人机自动发射系统，2023.08.01~2024.07.31，在研，项目负责人；

12）华为技术有限公司委托项目，Mirage自适应变体系统，2023.10.23~2024.10.22，在研，项目负责人；

11）辽宁省“揭榜挂帅”科技计划技术攻关项目子课题，极端工况条件下自动装载机器人智能感知及控制，2023.07.01~2026.06.31，在研，项目负责人；

10）辽宁省科技创新重大专项，2022JH1/10800026，宇航级光电角度传感器复合物理场建模分析，2022.07.01~2022.12.31，已结题，项目负责人；

9）基本科研业务费交叉探索科研专题医工交叉联合基金，DUT22YG232, 基于数字孪生和柔顺机构的介入导丝与血管多维交互力感知研究，2022.01.01~2023.12.31，在研；

8）大连市揭榜挂帅科技攻关项目，2021JB12GX012，单晶硅切割智能制造系统的研发，2021.07.22~2023.12.31，在研，项目负责人；

7) 国家自然科学基金面上项目，51975108，面向微操作和微感知的解耦柔顺机构的设计理论与方法研究，2020.01.01~2023.12.31，在研，项目负责人；

6) 中央高校基本科研业务费项目，82232007，基于细杆网模型的平面解耦柔顺机构拓扑优化设计方法，2020.09.01~2023.12.31，在研，项目负责人；

5) 中央高校基本科研业务费项目，N180304019，面向微操作和微感知的六自由度解耦柔性并联机构的设计理论与方法研究，2019.01.01~2020.06.30，已结题，项目负责人；

4) 美国SUNSTAR医疗设备有限公司项目，便携式口腔光动力治疗仪的研究与开发，2017.02.01~2018.09.30，已结题，博士后课题；

3) 爱尔兰国家基金委项目，基于生物光子技术的光机电诊疗系统开发及微型化，2017.10.01~2018.09.30，已结题，博士后课题；

2) 爱尔兰-法国合作IRC ULYSSES项目，基于刚性机构的奇异位姿设计可重构柔顺机构的理论，2016.02.01~2017.02.28，已结题；

1) 爱尔兰国家科委IRCSET项目，面向微纳操作和微纳感知的空间平动解耦柔顺机构的构型综合、运动学建模和结构优化等关键理论研究，2013.01.21~2016.12.31，已结题，博士课题。

主要专利

23) 李海洋，冷初阳，可实现高精度和一体化加工的三自由度运动解耦柔顺机构，中国，发明专利， 申请号202210792264.X；

22) 李海洋，赵慧文，于贵宁，王伽纹，韩飞扬，周绍杰，一种非火工箭体径向连接解锁装置及使用方法，中国，发明专利，申请号202210888452.2；

21) 王长生，李海洋，冷初阳，董跟玮，基于数字孪生的机器人微创血管介入手术危险预警方法，中国，发明专利， 申请号202210792034.3；

20) 李海洋，冷初阳，可实现高精度和一体化加工的二自由度解耦力传感器，中国，发明专利， 申请号202210792252.7；

19) 李海洋，冷初阳，金楚涵，一种基于柔顺Stewart并联机构的连续体机器人，中国，发明专利， 申请号202210651049.8；

18) 李海洋，胡经国，任晓泽，杜志豪，用于乘员碰撞安全保护的安全带缓冲、吸能与耗能装置，中国，发明专利， 申请号202210477149.3；

17) 李海洋，任晓泽，基于语义识别和语音定位的儿童安全座椅旋转控制方法，中国，发明专利， 申请号202210282068.8；

16) 李海洋，可实现高精度、大行程和高频响的二自由度运动解耦柔顺机构，中国，发明专利，申请号202011425878.1；

15) Ray Burke, Haiyang Li, Toru Saito, Leoncio Angel Gonzalez, and Josh Vicari, Light-emitting intraoral device, 国际发明专利，International Application Number PCT/US2019/013331；

14) 李海洋，李树军，李允公，王晓宇，孙志礼，王健，一种平面三自由度运动解耦柔顺机构，中国发明专利，申请号201911053769.9；

13) 李海洋，邓欣然，一种具有分布式柔度的全柔顺微位移放大机构，中国发明专利，申请号201911118751.2；

12) 李海洋，一种六自由度运动解耦柔顺机构，中国发明专利，申请号201911126650.X；

11) 李海洋，陈尚伦，王沛庆 ，半封闭环保贮料场，2011.12.07，中国，ZL201120150482.0；

10) 李海洋，陈尚伦，刘建业，王沛庆，一种封闭式贮料场，2011.01.19，中国，ZL201020224887.X；

9) 陈尚伦，李海洋，罗庆红，一种带伸缩溜管的卸料小车，2012.04.11，中国，ZL201120226581.2；

8) 陈尚伦，李海洋，刘建业，一种剪叉式头部伸缩装置的胶带机，2010.04.21，中国，ZL200920127718.1；

7) 陈尚伦，李海洋、刘建业，一种新型头部可伸缩胶带机，2010.02.24，中国，ZL200920127717.7；

6) 陈尚伦，李海洋，刘建业，一种头部可伸缩的胶带输送机，2010.01.20，中国，ZL200920127222.4；

5) 陈尚伦，李海洋，王沛庆，一种卸料小车的除尘系统，2011.10.05，中国，ZL201120061660.2；

4) 陈尚伦，李海洋，王沛庆，刘建业，一种胶带机头部伸缩装置，2011.06.29，中国，ZL201020642155.2；

3) 陈尚伦，刘建业，李海洋，朱新发，段勋兴，一种胶带机头部伸缩装置，2010.08.25，中国，ZL200920128729.1；

2) 陈尚伦，王沛庆，李海洋，一种新型封闭式贮料场，2013.01.16，中国，ZL201220265413.9；

1) 王沛庆，陈尚伦，李艳，李海洋，一种管状带式输送机用托辊结构，2011.11.30，中国，ZL201120132956.9。

论文列表

49) Xiaoze Ren, Chuyang Leng, Qianxu Wang, Longteng Yi, Zhi Wang, Haiyang Li*, “A novel quadrupedal robot with unpowered wheels”, IEEE Robotics and Automation Letters, 2024. (Under review)

48) Haiyang Li*, Weiwei Chen, Longteng Yi, Chuyang Leng, Haibo, Wu,  “ Design, modelling and manufacture error identification of a new 6-DOF compliant parallel manipulator”, Mechanical Sciences, 2024. (Under review)

47) Haiyang Li *, Longteng Yi, Chuyang Leng, Yahan Zhong, Jiaqi Hong, Xueguan Song, Guangbo Hao, “Design of a Three-Axis Force Sensor Using Decoupled Compliant Parallel Mechanisms”, IEEE Sensors Journal, 2024 . (Accepted)

46) Changsheng Wang, Genwei Dong, Zhigong Zhang, Haiyang Li*, Zhangming Wu, "Generalized domain material point method generates particles from the CAD files for explicit solid dynamics", International Journal for Numerical Methods in Engineering, 2024.

45) Chuyang Leng, Guangbo Hao, Xiaoze Ren, Changsheng Wang, Yanming Li, Yuanzhao Zhang, Haiyang Li*, "A synthesis approach of XYZ compliant parallel mechanisms towards motion decoupling with isotropic property and simplified manufacturing", ASME Journal of Mechanical Design, 2024. 

44) Guangbo Hao, Xiuyun He, Jiaxiang Zhu, Haiyang Li, Design and analysis of leaf beam single-translation constraint compliant modules and the resulting spherical joints, Journal of Mechanical Design, 2023.

43） Kunpeng Li, Xiwang He, Liye Lv, Jiaxiang Zhu, Guangbo Hao, Haiyang Li, Xueguan Song, A single-fidelity surrogate modeling method based on nonlinearity integrated multi-fidelity surrogate, Journal of Mechanical Design, 145(9): 091705, 2023.

42) Jiaxiang Zhu, Guangbo Hao*, Tinghao Liu, Haiyang Li, Design of an overconstraint based nearly-constant amplification ratio compliant mechanism, Mechanism and Machine Theory, 2023.

41) Fanyi Guo, Zhili Sun*, Shengnan Zhang, Runan Cao, Haiyang Li*, Dynamic characteristics and frequency reliability analysis of an optimized compliant stroke amplification mechanism, Journal of Mechanisms and Robotics - Transactions of the ASME, 2022.

40) Haiyang Li, Yijie Liu, Zhipeng Wang, Chuyang Leng, Zhen Zhang*, Guangbo Hao*, A constraint-flow based method of synthesizing XYθ compliant parallel mechanisms with decoupled motion and actuation characteristics, Mechanism and Machine Theory, 178, 2022.

39) Fanyi Guo, Zhili Sun*, Shengnan Zhang, Runan Cao, Haiyang Li*, Optimal design and reliability analysis of a compliant stroke amplification mechanism, Mechanism and Machine Theory, 171, 2022.

38) Haiyang Li, Fanyi Guo, Yiran Wang, Zhipeng Wang, Cuiling Li, Mingxiang Ling*, Guangbo Hao*, “Design and modelling of a compact compliant stroke amplification mechanism with completely distributed compliance for ground-mounted actuators”, Mechanism and Machine Theory, 167, 2021.

37) Guangbo Hao*, Haiyang Li*, Yu-Hao Chang, Chien-Sheng Liu, “Design of four-DoF compliant parallel manipulators considering maximum kinematic decoupling for fast steer mirrors”, Actuators, 10(11), 2021.

36) Haiyang Li, Guangbo Hao*, Yuwang Liu*, Shujun Li, Xiaopeng Li, Xinran Deng, “Synthesis and modelling of one rotational constraint oriented compliant mechanisms”, Mechanism and Machine Theory, 156, 2021.

35) Andrea Liliana Pacheco Tobo*, Haiyang Li, Monisha Chakravarty, Sanathana Konugolu Venkata Sekar, and Stefan Andersson-Engels, “Anthropomorphic optical phantom of the neonatal thorax: a key tool for pulmonary studies in preterm infants,” Journal of Biomedical Optics, 25(11): 1-11, 2020.

34) Qiang Yang*, Guangbo Hao; Shujun Li, Hongguang Wang, Haiyang Li, “A practical structural design approach of multi-configuration planar metamorphic mechanism with a single driver”, Chinese Journal of Mechanical Engineering, 33(1): 77, 2020.

33) Xiaopeng Li, Dongyang Shang*, Haiyang Li, Fanjie Li, “Resonant suppression method based on PI control for serial manipulator servo drive system”, Science Progress, 103(3), 2020.

32) Sanathana Konugolu Venkata Sekar, Andrea Pacheco, Pierluigi Martella, Haiyang Li, Pranav Lanka, Antonio Pifferi, and Stefan Andersson-Engels, “Solid phantom recipe for diffuse optics in biophotonics applications: a step towards anatomically correct 3D tissue phantoms”, Biomedical Optics Express, 10(4): 2090-2100, 2019. 

31) Haiyang Li, and Guangbo Hao*, “Position-space-based design of a symmetric spatial translational compliant mechanism for micro-/nano-manipulation”, Micromachines, 9(4), 2018.

30) 李海洋, 郝广波*, 于靖军, 邓子龙, 宋增旺, “空间平动柔性并联机构的系统设计方法研究”, 机械工程学报, 54 (13):57-65, 2018.

29) Guangbo Hao*, and Haiyang Li, Abhilash Nayak, and Stephane Caro, “Design of a compliant gripper with multi-mode jaws”, Journal of Mechanisms and Robotics (ASME Transactions), 10(3), 2018.

28) Haiyang Li, and Guangbo Hao*, “Constraint-force-based approach of modelling compliant mechanisms: principle and application”, Precision Engineering, 47:158-181, 2017.

27) Haiyang Li, Guangbo Hao*, and Richard Kavanagh, “Position-space-based compliant mechanism reconfiguration approach and its application in reduction of parasitic motion”, Journal of Mechanical Design (ASME Transactions), 138(9), 2016.

26) Haiyang Li, Guangbo Hao*, and Richard Kavanagh, “A new XYZ compliant parallel mechanism for micro/nano manipulation: design and analysis”, Micromachines, 7(23):1-18, 2016.

25) Guangbo Hao*, Haiyang Li, and Richard Kavanagh, “Design of decoupled, compact, and monolithic spatial translational compliant parallel manipulators based on the position space”, Proceedings of the IMechE, Part C: Journal of Mechanical Engineering Science, 230(3):367-378, 2016.

24) Guangbo Hao*, Haiyang Li, Suzen Kemalcan, Guimin Chen, and Jingjun Yu, “Understanding coupled factors that affect the modelling accuracy of typical planar compliant mechanisms”, Frontier of Mechanical Engineering, 11 (2):129-134, 2016.

23) Guangbo Hao*, Jingjun Yu, and Haiyang Li, “A brief review on nonlinear modelling methods and applications of compliant mechanisms”, Frontiers of Mechanical Engineering, 11 (2):119-128, 2016.

22) Guangbo Hao*, and Haiyang Li, “Extended static modeling and analysis of compliant compound parallelogram mechanisms considering the initial internal axial force”, Journal of Mechanisms and Robotics (ASME Transactions), 8(4), 2016.

21) Haiyang Li, and Guangbo Hao*, “A constraint and position identification approach for the synthesis of decoupled spatial translational compliant parallel manipulators”, Mechanism and Machine Theory, 90:59-83, 2015.

20) Guangbo Hao*, and Haiyang Li, “Nonlinear analytical modeling and characteristic analysis of a class of compound multibeam parallelogram mechanisms”, Journal of Mechanisms and Robotics (ASME Transactions), 7(4), 2015.

19) Guangbo Hao*, and Haiyang Li, “Conceptual designs of multi-DOF compliant parallel manipulators composed of wire-beam based compliant mechanisms”, Proceedings of the IMechE, Part C: Journal of Mechanical Engineering Science, 229(3):538-555, 2015.

18) Guangbo Hao*, and Haiyang Li, “Design of 3-legged XYZ compliant parallel manipulators with minimised parasitic rotations”, Robotica, 33(4):787-806, 2015.

17) Guangbo Hao*, Haiyang Li, Xiuyun He, and Xianwen Kong, “Conceptual design of compliant translational joints for high-precision applications”, Frontiers of Mechanical Engineering, 9(4):331-343, 2014. 

16) Hongye Wang,   Qianxu Wang, Weiwei Chen, Yinan Yang, Haiyang Li*, Design and research of a 6-degree-of-freedom parallel ankle rehabilitation robot based on compliant spherical joints, International Convention on Rehabilitation Engineering and Assistive Technology, 23-26 August, 2024.

15) Haiyang Li, Zhipeng Wang, Yijie Liu, Chuyang Leng, Zhen Zhang, Guangbo Hao*, “A constraint-flow based method of synthesizing XYθ compliant parallel mechanisms with decoupled motion characteristics”, The IFToMM CCMMS 2022, Yantai, China, July 30- August 1, 2022.

14) Xueguan Song, Kunpeng Li, Shuo Wang, Ziyun Kan, Haiyang Li, Jiaxiang Zhu, Guangbo Hao, “Framework design of a digital twin of an XY compliant parallel manipulator based on non-negative matrix factorization”, The ASME 2022 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, St. Louis, Missouri, USA, August 14-17, 2022.

13) Jiaxiang Zhu, Guangbo Hao, Tinghao Liu, Haiyang Li, “Design and nonlinear analysis of an overconstraint based constant amplification ratio compliant mechanism”, The ASME 2022 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, St. Louis, Missouri, USA, August 14-17, 2022.

12) Guangbo Hao*, Haiyang Li, Yu-Hao Changc, and Chien-Sheng Liu*, “Framework design of fast steer mirror oriented four-degrees-of-freedom compliant parallel manipulators considering maximum kinematic decoupling”, The 4th International Workshop on Fundamental Issues, Applications and Future Research Directions for Parallel Mechanisms/Manipulators/Machines, IFToMM Conference on Mechanisms, Transmissions and Applications, Belfast, United Kindom, 2020.

11) Haiyang Li, Qiaoling Meng, Guangbo Hao, Shujun Li, Yunpeng Gong, and Yong Zhao, “Compliant Mechanism Based Backbones for Continuous Manipulators and Robots”, The 5th Conference on Mechanisms, Transmissions and Applications, Dalian, China, October 9-11, 2019.

10) Haiyang Li, and Guangbo Hao, “Design of compliant mechanisms with single-rotation constraints”, The ASME 2019 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Hilton Anaheim, Anaheim, CA, USA, August 18-21, 2019.

9) Abhilash Nayak, Haiyang Li, Guangbo Hao*, and Stephane Caro, “A reconfigurable compliant four-bar mechanism with multiple operation modes”, The ASME 2017 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference , Cleveland, Ohio, August 6-9, 2017.

8) Riccardo Sandon, Haiyang Li, Fabiana Federica Ferro, Alberto Trevisani, Richard Kavanagh*, and Guangbo Hao*, “High-performance control of a single-axis compliant nano-positioning system: design”, The 34th International Manufacturing Conference, Institute of Technology Sligo, Ireland, August 30-31, 2017.

7) Riccardo Sandon, Haiyang Li, Fabiana Federica Ferro, Alberto Trevisani, Guangbo Hao*, and Richard Kavanagh*, “High-performance control of a single-axis compliant nano-positioning system: control”, The 34th International Manufacturing Conference, Institute of Technology Sligo, Ireland, August 30-31, 2017.

6) Haiyang Li, and Guangbo Hao*, “Position-space-based symmetric compliant mechanism design approach and its application in the design of a high-performance spatial translational manipulator”, The ASME 2016 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Charlotte, NC, USA, August 21-24, 2016.

5) Haiyang Li, and Guangbo Hao*, “Constraint-force-based modelling of compliant mechanisms”, The ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Boston, Massachusetts, USA, August 2-5, 2015.

4) Haiyang Li, and Guangbo Hao*, “Compliant mechanism reconfiguration based on position space concept for reducing parasitic motion”, The ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Boston, Massachusetts, USA, August 2-5, 2015.

3) Guangbo Hao*, and Haiyang Li, George Joseph, “Extended nonlinear analysis of exactly-constrained compliant compound parallelogram mechanisms”, The ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Boston, Massachusetts, USA, August 2-5, 2015.

2) Guangbo Hao*, and Haiyang Li, “CUBEs: decoupled, compact, and monolithic spatial translational compliant parallel manipulators”, Proceedings of 2014 IFToMM Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Tianjin, China, July 7-8, 2014.

1) Haiyang Li, Guangbo Hao*, and Richard Kavanagh, “Synthesis of decoupled spatial translational compliant parallel mechanisms via a freedom and actuation method”, The ASME 2014 12th Biennial Conferences on Engineering Systems Design and Analysis, Copenhagen, Denmark, June 25-27, 2014.