通过潜力灵巧度优化机械手指节长度比例，提升抓握性能。
Kinematic Optimization of Phalanx Length Ratios in Robotic Hands Using Potential Dexterity
- 基于全局可操作性等四项指标，用加权函数优化指节长度配比。
- 不同指节对整体灵巧度贡献不均，最优配置需权衡多目标冲突。
- 适合机器人手设计阶段参考，尤其关注抓取与运动控制的平衡。
在机器人手的设计阶段，缺乏具体物体或操作任务时，难以定量评估指节长度比例对灵巧度的影响。为此，本文提出一种基于运动学结构中潜力灵巧度的五指机器人手指节长度比例优化框架。方法采用全局可操作性、工作空间体积、重叠工作空间体积和指尖敏感度作为评价指标，通过加权目标函数在约束条件下识别最优设计配置。可达工作空间采用体素化表示，关节运动以均匀间隔离散化用于评估。优化覆盖拇指与其他手指的设计组合，并剔除无重叠工作空间的设计。结果表明，各指节对整体灵巧度贡献不均，影响因素各异；且权重系数的选择未必直接提升单项指标表现，因评价指标在设计空间中分布不均。该框架系统分析了可达性、灵巧度与可控性间的权衡，可为多指机器人手的运动学设计提供实用指导。
原文摘要 · Abstract (English)
In the design stage of robotic hands, it is not straightforward to quantitatively evaluate the effect of phalanx length ratios on dexterity without defining specific objects or manipulation tasks. Therefore, this study presents a framework for optimizing the phalanx length ratios of a five-finger robotic hand based on potential dexterity within a kinematic structure. The proposed method employs global manipulability, workspace volume, overlap workspace volume, and fingertip sensitivity as evaluation metrics, and identifies optimal design configurations using a weighted objective function under given constraints. The reachable workspace is discretized using a voxel-based representation, and joint motions are discretized at uniform intervals for evaluation. The optimization is performed over design sets for both the thumb and the other fingers, and design combinations that do not generate overlap workspace are excluded. The results show that each phalanx does not contribute equally to the overall dexterity, and the factors influencing each phalanx are identified. In addition, it is observed that the selection of weighting coefficients does not necessarily lead to the direct maximization of individual performance metrics, due to the non-uniform distribution of evaluation measures within the design space. The proposed framework provides a systematic approach to analyze the trade-offs among reachability, dexterity, and controllability, and can serve as a practical guideline for the kinematic design of multi-fingered robotic hands.
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