混合形状记忆合金与电机驱动的21自由度仿人灵巧手，实现类人抓握。
A 21-DOF Humanoid Dexterous Hand with Hybrid SMA-Motor Actuation: CYJ Hand-0
- 采用肌腱传动结构，融合电机与形状记忆合金驱动模块。
- 在Arduino Mega 2560控制下实现21自由度灵活运动，验证类人灵巧性。
- 3D打印金属框架+高强钓鱼线肌腱，适合仿生机器人手设计参考。
CYJ Hand-0是一款21自由度的仿人灵巧手，采用混合肌腱驱动系统，结合形状记忆合金（SMAs）与直流电机。手部使用高强度钓鱼线作为人工肌腱，配备全3D打印的AlSi10Mg金属骨架，以模拟人类手部的骨骼与肌腱-肌肉结构。手指屈曲由线性电机驱动模块控制，而手指伸展与侧向外展则由SMA基模块实现。两个模块集成于定制后置支撑结构上的紧凑混合驱动单元中。基于Arduino Mega 2560的控制系统完成机械与运动学实验，验证了设计有效性，并展示了其类人灵巧性。
原文摘要 · Abstract (English)
CYJ Hand-0 is a 21-DOF humanoid dexterous hand featuring a hybrid tendon-driven actuation system that combines shape memory alloys (SMAs) and DC motors. The hand employs high-strength fishing line as artificial tendons and uses a fully 3D-printed AlSi10Mg metal frame designed to replicate the skeletal and tendon-muscle structure of the human hand. A linear motor-driven module controls finger flexion, while an SMA-based module enables finger extension and lateral abduction. These modules are integrated into a compact hybrid actuation unit mounted on a custom rear support structure. Mechanical and kinematic experiments, conducted under an Arduino Mega 2560-based control system, validate the effectiveness of the design and demonstrate its biomimetic dexterity.
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