用时间复用驱动技术，让机械臂更轻且抗故障。
Time-Division Multiplexing Actuation in Tendon-Driven Arms: Lightweight Design and Fault Tolerance
- 通过时分复用驱动，减少电机数量同时保持高扭矩。
- 自重仅2.17公斤，支持10公斤负载，故障下精度仍达1%。
- 适合航天等严苛环境，适合追求轻量化与可靠性的场景。
面向航空航天应用的机器人操作臂需在轻量化与容错运行间取得平衡，以满足严格重量限制并保障远距离危险环境下的可靠性。本文提出时分复用驱动（TDMA）技术，为绳索驱动机器人提供一种实用方案，显著降低驱动器数量，同时保持高扭矩输出和内在容错能力。核心硬件采用垂直堆叠旋转选择结构，集成自旋转TDM电机实现快速配置，电磁离合器实现0.1秒内接合，蜗轮减速器提升负载能力与自锁性能，双编码器系统保障长期精准定位。基于TDMA设计的MuxArm自重仅2.17公斤，可支持10公斤驱动负载，即使部分伺服失效，末端执行器精度仍可达其长度的1%。此外，开发了驱动空间轨迹规划算法，实现容错控制，并使绳索受力相比传统方法降低最高50%。综合实验验证了MuxArm在自由空间、复杂与狭小环境中的稳健表现。
原文摘要 · Abstract (English)
Robotic manipulators for aerospace applications require a delicate balance between lightweight construction and fault-tolerant operation to satisfy strict weight limitations and ensure reliability in remote, hazardous environments. This paper presents Time-Division Multiplexing Actuation (TDMA), a practical approach for tendon-driven robots that significantly reduces actuator count while preserving high torque output and intrinsic fault tolerance. The key hardware employs a vertically-stacked rotational selection structure that integrates self-rotating TDM motors for rapid configuration, electromagnetic clutches enabling sub-0.1 second engagement, a worm gear reducer for enhanced load capacity and self-locking capability, and a dual-encoder system for precise, long-term positioning. Leveraging TDMA, the proposed MuxArm achieves a self-weight of 2.17 kg, supports an actuator driving capacity of 10 kg, and maintains end-effector accuracy up to 1% of its length, even under partial servo failure. Additionally, an actuation space trajectory planning algorithm is developed, enabling fault-tolerant control and reducing tendon load by up to 50% compared to conventional methods. Comprehensive experiments demonstrate MuxArm's robust performance in diverse settings, including free-space, cluttered, and confined environments.
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