新型软液压抓手提升太空机器人操作精度，减少干扰
A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation
- 采用软液压驱动的双指6自由度抓手，实现精准柔顺控制
- 在微重力下保持姿态稳定，交叉轴基座运动减少50%以上
- 适合空间站内复杂操作任务，可推广至智能机器人系统
Astrobee现有的单自由度欠驱动柔性爪虽能实现国际空间站手扶固定，但难以完成连续精细操作。复杂微重力任务要求末端执行器在保持稳定接触的同时，最大限度减少对自由飞行基座的扰动，因接触力会直接传递至基座运动。本文将DexCoHand——一种具有两个手指、6自由度的灵巧且柔顺的抓手，集成于Astrobee自由飞行机器人，用于微重力操作。系统在MuJoCo中通过标准手扶序列（接近、固定、平移与俯仰）进行评估，相比现有抓手，DexCoHand在保持指令平移与俯仰动作的同时，显著降低了非预期的交叉轴基座运动。地球上的硬件实验进一步验证了其灵巧操作能力及在更复杂智能操作任务中的潜力。
原文摘要 · Abstract (English)
Astrobee's existing one-degree-of-freedom (DOF) underactuated compliant claw gripper enables perching on the International Space Station (ISS), but provides limited capability for continuous dexterous manipulation. More complex microgravity tasks require an end-effector that can maintain stable contact while limiting disturbance to the free-flying base, since contact forces directly couple into base motion. This article presents the integration of DexCoHand, a dexterous and compliant two-finger, 6-DOF gripper, with the Astrobee free-flying robot for microgravity manipulation. The system is evaluated in MuJoCo using Astrobee's standard handrail perching sequence, including approach, perching, and subsequent pan and tilt motions. Compared with Astrobee's existing gripper, DexCoHand preserves the commanded pan and tilt motions while reducing unintended cross-axis base motion. Hardware experiments on Earth further demonstrate DexCoHand's dexterous manipulation capabilities and its potential for more adaptable intelligent manipulation tasks.
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