主要研究并联机构的设计、运动学与动力学分析、性能指标与尺度优化

● 机器人运动学误差建模与标定方面

主要研究机器人的几何误差建模、弹性-几何误差建模并用于运动学标定、以及基于机器公司模型的机器人误差预测与补偿

● 多环耦合机构的分析

主要研究多环偶和机构的自由度、奇异分析和基于性能指标的驱动方案选取等

2. 浙江省自然科学基金探索项目，LMS25E050002，“定动转换”并联爬壁加工机器人设计与控制研究，2025-01至2026-12，10万元，在研，主持

3. 高端重载机器人全国重点实验室开放课题，HHR2024010215，面向重载铣削加工的冗余驱动过约束混联机器人设计研究，2024-06至2026-06，10万元，在研，主持

4. 浙江省自然科学基金青年项目，LQ19E050015，基于Grassmann Cayley代数的并联机构误差建模与分析方法研究，2019-01至2021-12，10万元，结题，主持

5. 机械系统与振动国家重点实验室开放课题，MSV202314，用于大型结构件内壁打磨的混联装备设计与优化研究，2023-01至2024-12，10万元，结题，主持

6. 人形机器人拟人化运动的学习方法和控制策略，LD25E050001，浙江省自然科学基金委重大项目，2025-01至2027-12，在研，参与

[2] 李秦川,徐灵敏,柴馨雪.机器人建模与分析的几何代数方法[M].北京:科学出版社, 2025.

[3] 夏纯,张海峰,李秦川,柴馨雪*.基于等效运动链的并联机器人运动学标定方法[J].机械工程学报, 2022, 58(14): 71-84.

[4] 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.

[5] 柴馨雪,李翔毅,汤陈昕,等.基于共形几何代数的并联机器人逆运动学分析方法[J].农业机械学报, 2024, 55(3): 421-430.

[6] Guo Jinqun, Xiao Yu, Li Qinchuan, Xu Lingmin, Chai Xinxue*. Mobility Analysis of Multi-loop Coupling Mechanisms Using Geometric Algebra[J]. Advances in Applied Clifford Algebras, 2024, 34(3): 24.

[7] Xiao Yu, Xu Lingmin, Zheng Guochang, Li Qinchuan, Chai Xinxue*. Singularity Analysis Method of Multi-Loop Coupling Mechanism Using Geometric Algebra[J]. Journal of Mechanisms and Robotics-Transactions of the ASME, 2025, 17(6): 061006.

[8] Xu Lingmin, Chai Xinxue*, and Ding Ye. Design and Analysis of a Reconfigurable Hybrid Robot for Machining of Large Workpieces [J]. Journal of Mechanisms and Robotics-Transactions of the ASME, 2024, 16(5): 051001.

[9] Chai Xinxue, Zhang Ningbin, He Leiying, Li Qinchuan, Ye Wei. 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): 1.

[10] Chai Xinxue, Li Qinchuan, Ye Wei. Mobility Analysis of Overconstrained Parallel Mechanism using Grassmann–Cayley Algebra[J]. Applied Mathematical Modelling, 2017, 51: 643-654.

[11] Chai Xinxue, Xiao Yu, Li Qinchuan, Xu Lingmin. Actuation selection for multi-loop coupling mechanisms using geometric algebra. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 2024, 238(14): 6993-7014.

[12] Chai Xinxue, Li Qinchuan. Analytical Mobility Analysis of Bennett Linkage Using Geometric Algebra[J]. Advances in Applied Clifford Algebras, 2017, 27(3): 2083-2095.

[13] Wang Zhonglin, Zhang Ningbin, Chai Xinxue, Li, Qinchuan. Kinematic/dynamic analysis and optimization of a 2-URR-RRU parallel manipulator [J]. Nonlinear Dynamics, 2017, 88: 503–519.

[14] Zhang Weijia, Shi Zikang, Chai Xinxue, Ding Ye. An Efficient Kinematic Calibration Method for Parallel Robots with Compact Multi-Degrees-of-Freedom Joint Models[J]. Journal of Mechanisms and Robotics-Transactions of the ASME, 2024, 16(101011).

[15] Ye Wei, Chai Xinxue, and Zhang Ketao. Kinematic modeling and optimization of a new reconfigurable parallel mechanism[J]. Mechanism and Machine Theory, 2020, 149: 103850.

[16] Xu Lingmin, Chai Xinxue, and Ding Ye. Design of a 2RRU-RRS Parallel Kinematic Mechanism for an Inner-Cavity Machining Hybrid Robot [J]. Journal of Mechanisms and Robotics-Transactions of the ASME, 2024, 16(5): 054501.

[17] Li Qinchuan, Chai Xinxue, Xiang Jinan. 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): 041005.

2. 柴馨雪,徐灵敏,李秦川.用于大型复杂构件加工的并联爬壁机器人.发明专利: ZL202310277676.4

3. 肖煜,郭进群,柴馨雪.基于几何代数的多环耦合机构奇异分析方法及系统.发明专利: ZL 202210860579.3

● Email: chaixx@zstu.edu.cn