共享电机驱动的可拆卸机械臂，轻量化多功能
Detachable Wire Drive : Reconfigurable Robot Architecture with Shared Actuators
- 用可拆卸线缆单元实现多模块共享同一组电机
- 实测验证了不同形态间切换可靠，控制无缝衔接
- 适合需要灵活重构的工业或服务机器人场景
可重构机器人具有适应多样化任务的巨大潜力；然而传统集中式架构通常为每个模块配备专用执行器，导致系统重量、体积和成本显著增加。为此，本文提出“可拆卸线缆驱动”系统，使重型昂贵的执行器能在多种构型间共享。该系统核心是“线缆分离单元”，可通过物理方式断开与重连线缆驱动路径，使电机集中于共用基座单元。我们通过开发一个2自由度刚性臂、一个连续体臂及两个不同夹持器，验证了该方法的通用性：所有部件均可互换连接并由同一组共享执行器驱动。实验结果表明，拆装过程机械可靠，控制框架能无缝管理构型切换，为更高效、多功能的机器人系统提供了可行路径。
原文摘要 · Abstract (English)
Reconfigurable robots offer significant potential for adapting to diverse tasks; however, conventional centralized architectures often require dedicated actuators for each module, leading to substantial increases in overall system weight, volume, and cost. To address these challenges, this paper presents the "Detachable Wire Drive," a reconfigurable robotic system that enables the sharing of heavy and expensive actuators across various morphologies. The core of this system is the "Wire Detach Unit," a mechanism designed to physically split and reconnect wire drive paths, allowing motors to be consolidated into a common base unit. We demonstrate the versatility of this approach by developing a 2-DOF rigid arm, a continuum arm, and two distinct grippers, all of which are interchangeably attached to, and driven by, a single shared actuator set. Experimental results validate the mechanical reliability of the detachment process and the control framework's ability to seamlessly manage transitions between configurations, highlighting a path toward more efficient and multi-functional robotic systems.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。