用4个电机控制9根缆绳，低成本实现高精度抓握与操作
MuxHand: A Cable-driven Dexterous Robotic Hand Using Time-division Multiplexing Motors
- 通过时分复用电机技术，4个电机驱动9根独立缆绳
- 指尖承重达1.0公斤，磁性关节可抗冲击并自动复位
- 适合需要低成本、高灵巧性的机器人手研发人员
灵巧机械手需兼顾抓取与精细操作能力，其电机数量直接影响灵巧性与成本。本文提出MuxHand，采用时分复用电机（TDMM）机制，仅用4个电机即可独立控制9根缆绳，显著降低成本同时保持高灵巧性。为提升抓取与操作中的稳定性与平顺性，三根3D打印手指集成磁性关节，具备优异抗冲击性与自恢复能力。实验表明，TDMM机制可精确控制各指关节对应的缆绳，实现稳健抓取与灵巧操作。指尖负载能力达1.0公斤，磁性关节在冲击后有效吸收能量并修正偏移，无损坏。
原文摘要 · Abstract (English)
The robotic dexterous hand is responsible for both grasping and dexterous manipulation. The number of motors directly influences both the dexterity and the cost of such systems. In this paper, we present MuxHand, a robotic hand that employs a time-division multiplexing motor (TDMM) mechanism. This system allows 9 cables to be independently controlled by just 4 motors, significantly reducing cost while maintaining high dexterity. To enhance stability and smoothness during grasping and manipulation tasks, we have integrated magnetic joints into the three 3D-printed fingers. These joints offer superior impact resistance and self-resetting capabilities. We conduct a series of experiments to evaluate the grasping and manipulation performance of MuxHand. The results demonstrate that the TDMM mechanism can precisely control each cable connected to the finger joints, enabling robust grasping and dexterous manipulation. Furthermore, the fingertip load capacity reached 1.0 kg, and the magnetic joints effectively absorbed impact and corrected misalignments without damage.
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