用电场离合器实现单电机驱动多自由度，力大且独立控制。
Electrostatic Clutch-Based Mechanical Multiplexer with Increased Force Capability
- 用静电卡盘离合器设计新型传动结构，实现单电机多输出控制。
- 四路输出最大力达212N，速度达69.5mm/s，手部抓握力提升4.09倍。
- 适合需要高力、轻量化、多自由度协同控制的机器人系统。
随着机器人系统愈发复杂，传统方案仍为每个自由度配置独立电机。机械多路复用器通过离合器使单个电机控制多个输出，减少电机数量。但以往设计依赖笨重的机械离合结构，制约发展。本文提出基于静电卡盘离合器的传动架构，实现高力机械多路复用，支持单电机对多个输出进行独立、同步且完全驱动的控制。该系统实现四路全驱动线性输出，最大输出力达212 N，输出速度达69.5 mm/s。在商用腱控手部上验证：将系统总扭矩按需分配至各指，使垂直抓握力提升4.09倍，并实现111.2 N水平承载能力，为五指腱控机器人手中的最高记录。结果表明，静电离合器多路复用技术可在克服旧有结构局限的同时，实现高力、独立、同步、全驱动控制。
原文摘要 · Abstract (English)
As robotic systems become increasingly articulated, conventional actuation still dedicates one motor to each degree of freedom (DoF). Mechanical multiplexers address this limitation by allowing a single motor to control multiple outputs through clutches, reducing the number of required motors. However, previous multiplexers have relied on bulky mechanical clutch designs, limiting their development. This study presents an electrostatic capstan clutch-based transmission architecture that enables high-force mechanical multiplexing with independent, simultaneous, and fully actuated control of multiple outputs from a single motor. Our transmission implements four fully-actuated linear outputs, achieving individual output forces of up to 212 N and output speeds of up to 69.5 mm/s. We demonstrate our transmission on a commercial tendon-driven hand, where sequentially allocating system-wide torque capacity to individual outputs increased vertical grip strength by 4.09x and raised horizontal carrying capacity to 111.2 N, the highest reported among five-fingered tendon-driven robotic hands. These results demonstrate that electrostatic clutch-based mechanical multiplexing enables high-force, independent, simultaneous, and fully actuated control while overcoming the limitations of previous mechanical multiplexers.
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