2013/02 – 2014/03    美国Purdue University，访问学者。

2008/03 – 2008/09    美国University of California, San Diego, 访问学者。

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:10.1155/2017/3847049

[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：CN03157386.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：CN03153505.4，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：CN201010162850.3，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：CN201210104000.7，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：CN201110189355.6，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：CN201310069674.2，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：CN201210404690.8，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：CN201210404440.4，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：CN201210404424.5，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：CN201310070456.0，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：CN201210287185.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：CN201210287238.8，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：CN201410165576.3，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：CN201410165778.8，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：CN201410115334.3，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：CN201410114833.0，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：CN201410165816.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：CN20140724548.0，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：CN201510726632.0，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：ZL201510221443.8，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：ZL201510566478.5，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：ZL201510223680.8，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：ZL201610258353.0，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：ZL201610286086.8，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 201610115317.9，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”