打造能击败职业选手的乒乓球机器人，硬件设计是关键
Hardware Design for Table Tennis Robot Capable of Beating Professional Players
- 定制8自由度机器人，通过拓扑优化减轻重量并保持刚性
- 实现0.8秒循环周期，球拍中心最高速度达22米/秒
- 结合强化学习控制，适合研究高速运动机器人系统
本文聚焦于使乒乓球机器人击败职业选手所需的硬件规格。通过分析顶尖选手的动作，确定了工作空间、负载能力、抗外力能力、物理性能、发球能力及末端执行器精度等目标参数。基于这些指标，开发了名为“Ace”的定制8自由度机器人。通过拓扑优化改进机械结构，在减重的同时保持刚性；利用逆动力学扭矩模型优化电机与减速器选型；识别出低阶单关节动态模型并补偿延迟，集成至仿真中以支持强化学习控制策略的应用。实验表明，机器人可实现0.8秒循环周期的完整击球动作，球拍中心峰值速度达22米/秒，并成功战胜多位职业选手。
原文摘要 · Abstract (English)
This paper focuses on the hardware specifications required for a table tennis robot to beat professional players. After analyzing the motions of elite players, we defined target specifications for the workspace, payload, external-force resistance, physical performance, serve capability, and end-effector accuracy. Based on these specifications, we developed "Ace", a custom 8-DoF robot. The mechanical structure was improved through topology optimization to minimize mass while preserving stiffness. Motor and gearbox selection was optimized using an inverse-dynamics torque model. Low-order per-joint dynamics models with delay compensation were identified and integrated into simulation to enable the use of an RL control policy. Experiments demonstrated repeated full-stroke swings with a cycle time of 0.8 s and a peak racket-center velocity of 22 m/s. The robot successfully defeated multiple professional players.
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