考虑绳索交叉的三维绳驱动机构布线优化，提升机器人关节扭矩性能。
Design Optimization of Three-Dimensional Wire Arrangement Considering Wire Crossings for Tendon-driven Robots
- 基于多目标黑箱优化，避免绳索交叉同时保证扭矩输出。
- 在3D结构上实现多工况下布线优化，验证设计有效性。
- 适合复杂绳驱动机器人结构设计，如手部、腕部等关节部位。
绳驱动机构因其可变刚度、冗余驱动和轻量化设计优势，在机器人手部、腕部和腰部等部位广泛应用。传统布线设计多依赖经验，面对复杂结构时难以处理。现有优化研究常过度简化，如限制运动为二维平面、保持力臂恒定或忽略绳索交叉。为此，本文提出一种考虑绳索交叉的三维布线优化方法，采用多目标黑箱优化策略，在确保绳索不交叉的前提下，实现沿预定轨迹的充足关节扭矩输出。针对3D连杆结构，在多种工况下进行布线优化，展示其有效性，并分析所得设计方案的特性与适用性。
原文摘要 · Abstract (English)
Tendon-driven mechanisms are useful from the perspectives of variable stiffness, redundant actuation, and lightweight design, and they are widely used, particularly in hands, wrists, and waists of robots. The design of these wire arrangements has traditionally been done empirically, but it becomes extremely challenging when dealing with complex structures. Various studies have attempted to optimize wire arrangement, but many of them have oversimplified the problem by imposing conditions such as restricting movements to a 2D plane, keeping the moment arm constant, or neglecting wire crossings. Therefore, this study proposes a three-dimensional wire arrangement optimization that takes wire crossings into account. We explore wire arrangements through a multi-objective black-box optimization method that ensures wires do not cross while providing sufficient joint torque along a defined target trajectory. For a 3D link structure, we optimize the wire arrangement under various conditions, demonstrate its effectiveness, and discuss the obtained design solutions.
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