研究成果
获奖情况
少自由度并联机器人机构位移流形综合方法及应用，浙江省自然科学奖二等奖，排名3/5，2018
科研项目
1. 浙江省自然科学基金青年基金项目，基于 Grassmann -Cayley代数的并联机构误差建模与分析方法研究，LQ19E050015，10万，2019.1~2021.12，主持
2. 国家自然科学基金青年科学基金项目，复杂多环过约束机构的自由度计算、奇异分析与驱动选取方法研究，52005448，24万，2021.1~2023.12，主持
发表论文
[1] Chai X. X., Li Q. C. Mobility Analysis of Two Limited-DOF Parallel Mechanisms Using Geometric Algebra[C]//7th International Conference on Intelligent Robotics and Applications (ICIRA), 2014: 13-22.
[2] Chai X. X., Li Q. C. Analytical Mobility Analysis of Bennett Linkage Using Geometric Algebra[J]. Advances in Applied Clifford Algebras, 2017, 27(3): 2083-2095.
[3] Chai X. X., Li Q. C., Ye W. Mobility analysis of overconstrained parallel mechanism using Grassmann-Cayley algebra[J]. Applied Mathematical Modelling, 2017, 51: 643-654.
[4] Chai X. X., Wang M., Xu L. M., Ye W. Dynamic Modeling and Analysis of a 2PRU-UPR Parallel Robot Based on Screw Theory[J]. IEEE Access, 2020, 8: 78868-78878.
[5] Chai X. X., Zhang N. B., He L. Y., Li Q. C., Ye W. Kinematic Sensitivity Analysis and Dimensional Synthesis of a Redundantly Actuated Parallel Robot for Friction Stir Welding[J]. Chinese Journal of Mechanical Engineering, 2020, 33(1).
[6] Chen Q. H., Chen Z., Chai X. X., Li Q. C. Kinematic Analysis of a 3-Axis Parallel Manipulator: The P3[J]. Advances in Mechanical Engineering, 2013.
[7] Ji W. X., Xie Z. T., Chai X. X. Kinematics and Dimensional Synthesis of a Novel 2RPU-PUR Parallel Manipulator[C]//14th International Conference on Intelligent Robotics and Applications (ICIRA), 2021: 754-765.
[8] Li Q. C., Chai X. X., Xiang J. N. Mobility Analysis of Limited-Degrees-of-Freedom Parallel Mechanisms in the Framework of Geometric Algebra[J]. Journal of Mechanisms and Robotics-Transactions of the Asme, 2016, 8(4).
[9] Li Q. C., Xiang J. N., Chai X. X., Wu C. Y. Singularity Analysis of a 3-RPS Parallel Manipulator Using Geometric Algebra[J]. Chinese Journal of Mechanical Engineering, 2015, 28(6): 1204-1212.
[10] Li Q. C., Xu L. M., Chen Q. H., Chai X. X. Analytical Elastostatic Stiffness Modeling of Overconstrained Parallel Manipulators Using Geometric Algebra and Strain Energy[J]. Journal of Mechanisms and Robotics-Transactions of the Asme, 2019, 11(3).
[11] Ma J. Y., Chen Q. H., Yao H. J., Chai X. X., Li Q. C. Singularity analysis of the 3/6 Stewart parallel manipulator using geometric algebra[J]. Mathematical Methods in the Applied Sciences, 2018, 41(6): 2494-2506.
[12] Wang Z. L., Zhang N. B., Chai X. X., Li Q. C. Kinematic/dynamic analysis and optimization of a 2-URR-RRU parallel manipulator[J]. Nonlinear Dynamics, 2017, 88(1): 503-519.
[13] Xu L. M., Chai X. X., Li Q. C., Zhang L. A., Ye W. Design and Experimental Investigation of a New 2R1T Overconstrained Parallel Kinematic Machine With Actuation Redundancy[J]. Journal of Mechanisms and Robotics-Transactions of the Asme, 2019, 11(3).
[14] Yao H. J., Chen Q. H., Chai X. X., Li Q. C. Singularity Analysis of 3-RPR Parallel Manipulators Using Geometric Algebra[J]. Advances in Applied Clifford Algebras, 2017, 27(3): 2097-2113.
[15] Yao H. J., Li Q. C., Chen Q. H., Chai X. X. Measuring the closeness to singularities of a planar parallel manipulator using geometric algebra[J]. Applied Mathematical Modelling, 2018, 57: 192-205.
[16] Ye W., Chai X. X., Zhang K. T. Kinematic modeling and optimization of a new reconfigurable parallel mechanism[J]. Mechanism and Machine Theory, 2020, 149.
[17] Ye W., Li Q. C., Chai X. X. New Family of 3-DOF UP-Equivalent Parallel Mechanisms with High Rotational Capability[J]. Chinese Journal of Mechanical Engineering, 2018, 31(1).
[18] 柴馨雪,杨泳,徐灵敏,李秦川.2-UPR-RPU并联机器人的动力学建模与性能分析[J].机械工程学报,2020,56(13):110-119.
[19] 李秦川,柴馨雪,陈巧红.两转一移三自由度并联机构研究进展[J].科学通报,2017,62(14):1507-1519.
[20] 柴馨雪,李秦川.3-PRRU并联机构自由度分析[J].浙江理工大学学报(自然科学版),2016,35(02):192-197.
[21] 柴馨雪,项济南,李秦川.2-UPR-RPU并联机构奇异分析[J].机械工程学报,2015,51(13):144-151.
[22] 李秦川, 少自由度并联机器人机构综合与分析. 浙江省,浙江理工大学,2013-09-20.
[23] 李秦川,柴馨雪,陈巧红,黄真.2-UPR-SPR并联机构转轴分析[J].机械工程学报,2013,49(21):62-69.
