李铁民
技术职务:长聘副教授
办公电话:**
通讯地址:清华大学李兆基科技大楼A907
电子邮件: litm@tsinghua.edu.cn





教育背景
工作履历
教学工作
科研工作
论文与专利
奖励与荣誉

2013/02 – 2014/03 美国Purdue University，访问。
2008/03 – 2008/09 美国University of California, San Diego, 访问。
1996/09 – 2000/06 清华大学，博士。
1994/09 – 1996/08 哈尔滨工业大学，硕士。
1987/09 – 1991/07 齐齐哈尔轻工学院，学士。


2013/01 –至今清华大学，机械工程系，副教授。
2004/01 – 2013/01 清华大学，精密仪器与机械学系，副研究员。
2000/08 – 2003/12 清华大学，精密仪器与机械学系，讲师。
1991/08 – 1994/08 哈尔滨飞机制造公司，设计员。


研究生课程：并联机器人
本科生课程：机械设计基础（1）
机械制图实践


研究领域：
1. 机器人学
2. 并联运动机器
3. 数控机床的精度保证技术
4. 基于智能结构的机器人技术


已发表论文150余篇，被SCI收录60余篇，近年代表性论文如下：
[1] Jun Wu, Tiemin Li, Boqiang Xu. Force optimization of planar 2-DOF parallel manipulators with actuation redundancy considering deformation. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2013, 227(6): 1371-1377.
[2] Jun Wu, Tiemin Li, Liping Wang. Counterweight optimization of an asymmetrical hybrid machine tool based on dynamic isotropy. Journal of Mechanical Science and Technology, 2013, 27(7): 1915-1922.
[3] Jun Wu, Tiemin Li, Jinsong Wang, Liping Wang. Performance analysis and comparison of planar 3-DOF parallel manipulators with one and two additional branches. Journal of Intelligent and Robotic Systems, 2013, 72(1): 73-82.
[4] Jun Wu, Tiemin Li, Jinsong Wang, Liping Wang. Stiffness and natural frequency of a 3-DOF parallel manipulator with consideration of additional leg candidates. Robotics and Autonomous Systems, 2013, 61(8): 868-875.
[5] XieFugui, LiTiemin and LiuXinjun. Type Synthesis of 4-DoF Parallel Kinematic Mechanisms Based on Grassmann Line Geometry and Atlas Method. Chinese Journal of Mechanical Engineering, 2013, 26(6):1073-1081
[6] Jiang Yao, Li Tiemin,Wang Liping. Dynamic modeling and redundant force optimization of a 2-DOF parallel kinematic machine with kinematic redundancy. Robotics and Computer-Integrated Manufacture, 2015, 32: 1-10
[7] Jiang Yao, Li Tiemin, Wang Liping. The dynamic modeling, redundant-force optimization, and dynamic performance analyses of a parallel kinematic machine with actuation redundancy. Robtica, 2015, 33(2): 241-263
[8] Li Tiemin, Zhang Jinglei, Jiang Yao. Derivation of empirical compliance equations for circular flexure hinge considering the effect of stress concentration. International Journal of Precision Engineering and Manufacturing, 2015, 16(8): 1735-1743
[9] Yao Jiang, Tiemin Li, Liping Wang. Stiffness modeling of compliant parallel mechanisms and applications in the performance analysis of a decoupled parallel compliant stage. Review of Scientific Instruments, 2015, 86(9): 095109
[10] Du Yunsong, Li Tiemin, Jiang Yao, Zhang Jinglei. Output decoupling property of planar flexure-based compliant mechanisms with symmetric configuration.Mechanical Sciences, 2016, 7(1): 49-59
[11] Du Yunsong, Li Tiemin, Jiang Yao, Wang Haitong. Design and analysis of a 2-degree-of-freedom flexure-based micro-motion stage.Advances in Mechanical Engineering, 2016, 8(3): 1-13
[12] Li Tiemin, Du Yunsong, Jiang Yao, Zhang Jinglei. Empirical compliance equations for constantrectangular cross section flexure hinge and their applications. MathematicalProblems in Engineering, 2016,2016: 1-11
[13] Tiemin Li, Yunsong Du, Wei Ji, Zhihua Liu, ChenguangCai. Automated testing of accelerometer transverse sensitivity with a flexure-based XY compliant stage. Mechanical Sciences, 2016, 7(2): 149-153
[14] Li Tiemin, Tang Xiaoqiang, Tang Lewei, Algebraic Expression and Characteristics of Workspace Boundary for Planar Cable-driven Parallel Robots, Advances in Mechanical Engineering, 2016, 8(3):1-8
[15] Li Tiemin, Jia Shi, Wu Jun. Dynamic model of a 3-DOF redundantly actuated parallel manipulator. International Journal of Advanced Robotic Systems, 2016, 13(5): 1-12
[16] Yunsong Du, Tiemin Li, Wei Ji, Yao Jiang and Fuhua Li. Compliance modeling of planar flexure-based mechanisms and its application to micro-motion stages. International Journal of Advanced Robotic Systems, 2016, 13(4): 1-11
[17] Jia Shi, Jiang Yao, Li Tiemin*. Contour accuracy improvement of a flexure-based micro-motion stage for tracking repetitive trajectory. AIP Advances, 2017, 7(1): 015026.
[18] Jia Shi, Jiang Yao, Li Tiemin*.Learning-Based Optimal Desired Compensation Adaptive Robust Control for a Flexure-Based Micro-Motion Manipulator. Applied Sciences, 2017, 7(4): 1-14
[19] Li Fengchun*, Li Tiemin, Wang Haitong, Jiang Yao. Temperature Sensor Clustering Method for Thermal Error Modeling of Heavy Milling Machine Tools. Applied Sciences. 2017, 7(1): 82
[20] Li Tiemin, Li Fengchun*, Jiang Yao, Zhang Jinglei, Wang Haitong. Calibration of a 3-P(Pa)S Parallel Type Spindle Head Considering the Thermal Error. Mechatronics. 2017, 43:86-98
[21] Li Tiemin, Li Fengchun*, Jiang Yao, Wang Haitong. Thermal Error Modeling and Compensation of a Heavy Gantry Type Machine Tool and Its Verification in Machining. International Journal of Advanced Manufacturing Technology, 2017, 92(9-12): 3073-3092
[22] Li Tiemin, Li Fengchun, Jiang Yao*, Wang Haitong, Zhang Jinglei. Error modeling and sensitivity analysis of a 3-P (Pa) S parallel type spindle head with parallelogram structure.International Journal of Advanced Robotic Systems, 2017, 14(3):1-18
[23] Fuhua Li, Yao Jiang, Tiemin Li*, Yunsong Du. An improved dynamic model of preloaded ball screw drives considering torque transmission and its application to frequency analysis. Advances in Mechanical Engineering, 2017, 9(7): 1-11
[24] Wang Haitong*, Li Tiemin, CaiYonglin, Wang Heng. Thermal Error Modeling of the CNC Machine Tool Based on Data Fusion Method of Kalman Filter. Mathematical Problems in Engineering, 2017, DOI:10.1155/2017/**
[25] Jiang Yao*, Li Tiemin, Wang Liping. Design, development and application of a compact flexure-based decoupler with high motion transmission efficiency and excellent input decoupling performance. IEEE/ASME Transactions on Mechatronics, 2017, 22(2): 1071-1081
[26] Jiang Yao, Li Tiemin*, Wang Liping, Chen Feifan. Systematic design method and experimental validation of a 2-DOF compliant parallel mechanism with excellent input and output decoupling performance. Applied Sciences, 2017, 7(6): 591
[27] Wang, Liping, Jiang Yao, and Li Tiemin*. Analytical compliance modeling of serial flexure-based compliant mechanism under arbitrary applied loads. Chinese Journal of Mechanical Engineering, 2017, 30(4): 951-962
[28] Jiang Yao*, Li Tiemin, Wang Liping. Novel method for designing high precision parallel kinematic machines based on the smart structure[J]. IEEE/ASME Transactions on Mechatronics, 2017, 22(4): 1889-1902
[29] Yao Jiang*, Tiemin Li, Liping Wang, Feifan Chen, and Yanzhi Wang. Improving contour accuracy of a 2-DOF planar parallel kinematic machine by smart structure based compensation method. 2017 IEEE International Conference on Robotics and Automation. IEEE (ICRA 2017), Singapore: 6066-6072.
[30] Shi Jia*, Yao Jiang, Tiemin Li, Contouring Performance-oriented Cross-coupled Desired Compensation Adaptive Robust Control for a Flexure-based Stage. 2017 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2017), Munich, Germany, 2017.
[31] Fuhua Li*, Tiemin Li, Yao Jiang, Fengchun Li. Effects of velocity on elastic deformation in ball screw drives and its compensation. 2017 International Mechanical Engineering Congress & Exposition (IMECE 2017), Tampa, USA, 2017.
[32] Jiang Yao*, Li Tiemin, Wang Liping, Chen Feifan. Kinematic error modeling and identification of the over-constrained parallel kinematic machine. Robotics and Computer-Integrated Manufacturing, 2018, 49: 105-119
[33] Jiang Yao, Li Tiemin*, Wang Liping Chen Feifan. Improving tracking accuracy of a novel 3-DOF redundant planar parallel kinematic machine. Mechanism and Machine Theory, 2018, 119: 198-218
[34] Tiemin Li,Fuhua Li*, Yao Jiang, Haitong Wang, Yunsong Du. Modeling of axial contact stiffness of a double-nut with preloads. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2018, 232(4): 629-638
[35] Zhufeng Shao, Tiemin Li, Xiaoqiang Tang*, Lewei Tang, Hao Deng. Research on the dynamic trajectory of spatial cable-suspended parallel manipulators with actuation redundancy. Mechatronics. 2018, 49: 26-35
[36] Jiang Yao*, Li Tiemin, Wang Liping, Chen Feifan. Kinematic accuracy improvement of a novel smart structure-based parallel kinematic machine. IEEE/ASME Transactions on Mechatronics, 2018, 23(1): 469-481
[37] Fuhua Li, Yao Jiang, Tiemin Li*, Kornel F. Ehmann. Compensation of dynamic mechanical tracking errors in ball screw drives. Mechatronics, 2018, 55: 27-37.
[38] Ren Huaqing, LiFuhua, Moser, Newell, LeemDohyun, Li Tiemin, Ehmann, Kornel, Cao Jian. General contact force control algorithm in double-sided incremental forming. CIRP ANNALS-MANUFACTURING TECHNOLOGY, 2018, 67(1): 381-384
[39] Yunsong Du*, Tiemin Li, GuohuaGao. Dynamic analysis of a flexure-based compliant stage, Journal of Mechanical Science and Technology, 2018, 32 (11): 5223~5231
获授权国家发明专利40余项，部分如下：
[1] 郑浩峻, 李铁民, 张秀丽, 程智锋, 赵里遥, 关旭, 赵广涛. 可实现动物节律运动的足式仿生机器人控制方法及装置，中国发明专利，专利号：CN**.X，授权公布日：2006.6.7
[2] 郑浩峻，李铁民，程智锋，赵里遥，张秀丽，关旭，赵广涛. 一种可调整的四足仿生机器人运动结构，中国发明专利，专利号：CN**.4，授权公告日：2006年1月25日。
[3] 唐晓强，李铁民，李剑，邵珠峰，一种大角度的CAC轴组合式铰链，中国发明专利，专利号：CN0.3，授权公告日：2012.6.20
[4] 吴军，李铁民，姜峣，唐晓强，一种平面两自由度冗余驱动并联机构及采用该机构的机床，中国发明专利，专利号：CN0.7，授权公告日：2013.7.4。
[5] 唐晓强，李铁民，柴晓明，唐乐为，一种冗余驱动的大射电望远镜馈源接收舱结构，中国发明专利，专利号：CN5.6，授权公告日：2013.10.16
[6] 李铁民，姜峣，吴军，关立文，唐晓强，一种具有新型冗余驱动支链的三自由度平面并联机构，中国发明专利，专利号：CN4.2，授权公告日：2014.12.24。
[7] 李铁民，姜峣，吴军，唐晓强，关立文，一种单向压力动态加载装置，中国发明专利，专利号：CN0.8，授权公告日：2014.9.17。
[8] 王立平，李铁民，姜峣，吴军，关立文，王妍智，一种直线进给系统动态特性综合测试实验装置，中国发明专利，专利号：CN0.4，授权公告日：2014.9.1。
[9] 李铁民，姜峣，关立文，吴军，唐晓强，一种双向拉压力动态加载装置，中国发明专利，专利号：CN4.5，授权公告日：2014.9.9。
[10] 李铁民，姜峣，吴军，关立文，唐晓强，一种新型平面两自由度冗余驱动并联移动平台，中国发明专利，专利号：CN6.0，授权公告日：2015.06.10 。
[11] 李铁民，姜峣，吴军，关立文，唐晓强，一种在数控移动工作台的任意位置垂直连续加载试验装置，中国发明专利，专利号：CN5.X，授权公告日：2015.4.15。
[12] 王立平，李铁民，姜峣，吴军，关立文，唐晓强，一种用于数控移动工作台的平面连续加载试验装置，中国发明专利，专利号：CN8.8，授权公告日：2015.2.18。
[13] 李铁民，姜峣，杜云松，张亮亮，吴军，一种滚珠丝杠转动惯量及摩擦力矩的测量装置，中国发明专利，专利号：CN6.3，授权公告日：2016-03-30。
[14] 李铁民，姜峣，李福华，杜云松，吴军，关立文，一种滚珠丝杠预紧力和预拉伸量可控调节和测量装置，中国发明专利，专利号：CN8.8，授权公告日：2016-05-11。
[15] 李铁民，李逢春，王海同. 一种便于测量主轴轴向热变形的主轴箱配置结构，中国发明专利，专利号：CN4.3，授权公布日：2016.5.11
[16] 王立平，王海同，李逢春，李铁民. 一种机械主轴系统热分析综合测试实验装置，专利号：CN3.0，授权公布日：2016.6.15
[17] 李铁民，姜峣，杜云松，李福华，吴军，关立文，直线导轨摩擦力及制造安装误差综合测量装置，中国发明专利，专利号：CN6.X，授权公告日：2016.05.13
[18] 李铁民，张京雷，姜峣，杜云松，李福华，吴军，一种压电柔性回转驱动装置，中国发明专利，专利号：CN.0，授权公告日：2016.9.5
[19] 姜峣，李铁民，王立平，一种并联式宏微高精运动平台，中国发明专利，专利号：CN2.0，授权公告日：2017.1.10.
[20] 李铁民，李逢春，王海同. 一种轴承预紧力可控的机床主轴系统，中国发明专利，专利号：ZL3.8，授权公告日：2017.06.16.
[21] 李铁民，张京雷，姜峣，吴军. 一种五轴联动机床主轴头姿态角测量装置及测量方法，中国发明专利，专利号：ZL8.5，授权公告日：2017.9.15
[22] 李铁民，姜峣，杜云松，张京雷.两自由度运动解耦柔性铰链机构，中国发明专利，专利号：ZL0.8，授权公告日：2017.11.14
[23] 李铁民，杜云松，姜峣，李福华，张京雷，贾石，李逢春. 一种超精密低速滚珠丝杠直线进给装置，中国发明专利，专利号：ZL3.0，授权公告日：2018.01.12
[24] 李铁民，李福华，姜峣，杜云松，贾石，双螺母滚珠丝杠副预紧力调节与测量装置及直线进给系统，中国发明专利，专利号：ZL6.8，授权公告日：2018.03.01
[25] 李铁民，杜云松，姜峣，张京雷，李福华，一种面向压电式加速度传感器横向灵敏度标定的振动台，中国发明专利，专利号：ZL 7.9，授权公告日：2018.12.24


[1] 2014年教育部自然科学奖二等奖“柔性及刚柔耦合索驱动机器人设计与控制理论研究”，第8完成人，证书号：2014-052
[2] 2014年清华大学教学成果奖二等奖“高水平科研成果向实践教学的转化应用——并联机器人创新设计实践”，第3完成人。
[3] 2011年教育部自然科学奖二等奖“并联机构的现代分析与设计理论”，第6完成人，证书号：2011-051
[4] 2010.12，获“清华大学优秀工会主席”
[5] 2008年中国机械工业科学技术发明一等奖“新型并混联机构与装备应用研究”，第10完成人。
[6] 2008.04，获2007年度“清华大学青年教师教学优秀奖”
[7]2006.12，获“清华大学第二届青年教师教学基本功比赛”（理工科组）二等奖”