轻量化机械腕部让机器人在狭窄空间中更灵活地完成动态抓取任务。
DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation
- 采用解耦并联结构与准直驱设计，实现紧凑高响应。
- 扭矩带宽达10.15赫兹，双自由度各40度转动范围。
- 适合需精细接触控制的复杂场景，如人机共处环境。
灵巧操作硬件研发长期聚焦于机械手与夹具，但其常搭配笨重且刚性高的腕部，限制了在人类环境中的表现。现有设计虽采用可回转驱动，却因运动学耦合或重链接杆导致建模控制困难。本文提出DexWrist，一种用于高度受限及动态接触任务的新型机器人腕部。通过将准直驱执行与解耦并联机构结合，在0.97公斤重量下实现3.75±0.05牛·米额定扭矩、0.33±0.06牛·米反驱动扭矩、10.15±1.34赫兹扭矩带宽，双自由度各±40度工作范围，并实现电机与自由度一对一映射。实测表明，该设计显著提升杂乱环境下的作业空间利用率，无需精细调节阻抗控制即可稳定接触。在模拟及两台机械臂上的评估显示，基于学习的策略成功率提升50%-76%，任务完成时间缩短3-5倍。
原文摘要 · Abstract (English)
Development of dexterous manipulation hardware has primarily focused on hands and grippers. However, these end-effectors are often paired with bulky and highly stiff wrists that limit performance in human environments. More designs have adopted backdrivable actuation, but are still difficult to model and control due to coupled kinematics or high mechanical inertia from heavy links. We present DexWrist, a robotic wrist that advances manipulation in highly constrained environments and enables dynamic, contact-rich tasks. We achieve this by combining quasi-direct drive actuation with a decoupled parallel kinematic mechanism in a compact design. It delivers 3.75 +/- 0.05 Nm rated torque, 0.33 +/- 0.06 Nm backdrive torque, 10.15 +/- 1.34 Hz torque bandwidth, +/- 40 degrees ROM in both DOFs, and a one-to-one motor-to-DOF mapping in a 0.97 kg package. In practice, these properties increase workspace in cluttered environments and stabilize contact without the need for finely tuned admittance control. We evaluate DexWrist as a drop-in wrist upgrade in simulation and on two robot arms performing representative constrained and contact-rich tasks. In learned policy evaluations, DexWrist achieved 50-76% relative improvements in success rate, and reduced autonomous task completion times by 3-5x. More details about DexWrist can be found at https://dexwrist.csail.mit.edu.
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