新型机械手用低比传动实现高带宽透明抓握，无需外部传感器。
Ultra-Low-Impedance Robotic Gripper for High-Bandwidth and Transparent Physical Interaction
- 采用1:2低比差速传动与直驱电机，集中驱动质量于基座。
- 实测抓握力达18牛，指尖力4.7牛，系统惯量仅占0.236%。
- 无外置传感器，适合高精度人机交互与力觉估计任务。
传统机械手常通过高传动比获得抓握力，并依赖外部力传感器感知物理交互，但高传动比会增加摩擦、反射惯性和机械阻抗，外置传感器则提升硬件复杂度。为此，本文提出一种9自由度、三指的差速直驱（DDD）机械手，将直驱电机与1:2低传动比差速机构结合。该结构将执行器质量集中于基座，以最小化运动部件惯性，差速架构使两电机并联工作，在屈曲时放大扭矩。实验表明，原型机额定抓握力约18 N，指尖力达4.7 N，电机对系统惯性的贡献仅为0.236%，被动机械阻抗最大值为50.1 N/m（电机未通电时）。该硬件设计有效平衡了扭矩、物理透明度与运动灵巧性，为高带宽交互与无传感器本体感知力估计提供了基础。
原文摘要 · Abstract (English)
Conventional robotic grippers often use high-ratio transmissions to generate grasping torque and external force sensors to measure physical interaction. High-ratio transmissions increase friction, reflected inertia, and mechanical impedance, while external sensors add hardware complexity. To address these trade-offs, this study proposes a novel 9-DOF, three-fingered Differential Direct-Drive (DDD) gripper that combines DD motors with a low-ratio (1:2) differential transmission. The mechanism centralizes actuator mass at the base to minimize moving-link inertia, while the differential architecture couples two motors in parallel to amplify torque during flexion. Experiments show that the prototype delivers a nominal grasping force of approximately 18 N and a fingertip force of 4.7 N, while maintaining a low motor contribution to system inertia (0.236%) and low passive mechanical impedance, with a maximum measured value of 50.1 N/m when the motors are unpowered. The proposed hardware addresses the trade-offs among torque, physical transparency, and kinematic dexterity, providing a foundation for high-bandwidth interaction and sensorless proprioceptive force estimation.
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