15自由度仿生手用绳索传动，轻量化高精度操控
Development of a 15-Degree-of-Freedom Bionic Hand with Cable-Driven Transmission and Distributed Actuation
- 采用绳索驱动与分布式电机布局，减少电机数量
- 全系统重1.4kg，五电机在前臂发力，十电机在掌心精细控制
- 适合需要灵巧抓握的机器人操作任务，如手术或精密装配
在机器人手研究中，如何在保持人手尺寸与自由度的同时减少执行器数量是一项基本挑战。本文受人手运动学结构和肌肉分布启发，提出一种新型15-DoF灵巧机器人手，详细分析其机械架构、电气系统与控制系统。该仿生手采用新型绳索驱动机制，显著降低传统绳索驱动系统所需电机数量，同时提升运动性能并简化机械结构。设计将五个电机集成于前臂以提供强握力，十个小型电机布置于掌部支持精细操作。配套开发了关节传感与电机驱动电路系统，确保高效控制与反馈。整机重量仅1.4kg，兼具轻量化与高性能。实验表明，该仿生手展现出优异灵巧性与稳健抓握能力，具备显著应用潜力。
原文摘要 · Abstract (English)
In robotic hand research, minimizing the number of actuators while maintaining human-hand-consistent dimensions and degrees of freedom constitutes a fundamental challenge. Drawing bio-inspiration from human hand kinematic configurations and muscle distribution strategies, this work proposes a novel 15-DoF dexterous robotic hand, with detailed analysis of its mechanical architecture, electrical system, and control system. The bionic hand employs a new tendon-driven mechanism, significantly reducing the number of motors required by traditional tendon-driven systems while enhancing motion performance and simplifying the mechanical structure. This design integrates five motors in the forearm to provide strong gripping force, while ten small motors are installed in the palm to support fine manipulation tasks. Additionally, a corresponding joint sensing and motor driving electrical system was developed to ensure efficient control and feedback. The entire system weighs only 1.4kg, combining lightweight and high-performance features. Through experiments, the bionic hand exhibited exceptional dexterity and robust grasping capabilities, demonstrating significant potential for robotic manipulation tasks.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。