采用关节专属混合远程驱动构型的全驱动 4 自由度机器指设计
Design of a Fully Actuated 4-DOF Robotic Finger With Joint-Specific Hybrid Remote Actuation
Hyojae Kang · Hyun-mok Jung · Joonho Lee · Dongil Park · Hyunmin Do · Jongwoo Park · et al.
中文摘要
提出一种全驱动 4 自由度机器指，采用关节专属的混合远程驱动构型。掌指关节（MCP）由两套协同的刚性连杆传动驱动，近侧指间关节（PIP）和远侧指间关节（DIP）则由各自独立的闭回路压力机传动驱动，传动中包含圆形滚动接触关节（RCJ）。PIP 关节采用较大的传动半径，DIP 关节采用较小的传动半径。RCJ 压力机几何在关节转动过程中保持总压力机环路长度不变；DIP 压力机的布线设计使得在 MCP 姿态固定时，PIP 的运动不影响其差动驱动。论文对远端压力机传动、MCP 连杆机构以及指尖运动学进行了分析建模。在实验中，通过 ArUco 标记追踪测量滚珠丝杠试验台位移，对传动行为进行了定量评估。结果显示，MCP 驱动会在 PIP 与 DIP 传动单元上产生可测量的位移；而在 MCP 固定条件下单独驱动 PIP 与 DIP 时，远端传动之间保持了预期的机械解耦。在 MCP、PIP、DIP 单独驱动下，指尖平均峰值力分别为 21.28 N、9.22 N 和 5.75 N。最后还使用不同形状与尺寸的物体检验了所得到的指尖姿态。
关键要点
- 01问题：现有机器指的多关节远程驱动中，远端关节之间常存在运动耦合，难以实现独立差动驱动
- 02动机：针对 4 自由度全驱动需求，为 MCP、PIP、DIP 分别设计专属混合远程驱动构型，并要求 MCP 姿态固定时 PIP 与 DIP 传动解耦
- 03方法：MCP 采用双套刚性连杆协同传动，PIP/DIP 采用含圆形滚动接触关节的独立闭回路压力机传动，并对远端压力机、MCP 连杆与指尖运动学建立解析模型
- 04结果：MCP 驱动会在 PIP/DIP 传动单元产生可测量位移，但 MCP 固定时 PIP 与 DIP 单独驱动保持机械解耦；指尖平均峰值力分别为 21.28 N、9.22 N、5.75 N
- 05局限：仅针对单一 4 自由度手指进行试验台与指尖力测量，未涉及整手集成或多指协同操控性能评估
解读
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原始英文摘要
arXiv:2610.10180v1 Announce Type: new Abstract: This paper presents a fully actuated 4-DOF robotic finger using a joint-specific hybrid remote-actuation architecture. The metacarpophalangeal (MCP) joint is driven by two coordinated rigid-link transmission sets, whereas the proximal interphalangeal (PIP) and distal interphalangeal (DIP) joints are independently actuated by closed-loop wire transmissions incorporating circular rolling-contact joints (RCJs). A larger transmission radius is used at the PIP joint than at the DIP joint. The RCJ wire geometry maintains the total wire-loop length during joint rotation, and the DIP wire routing is designed so that PIP motion does not affect its differential actuation for a fixed MCP configuration. The distal wire transmission, MCP linkage, and fingertip kinematics are analytically modeled. In experiments, the transmission behavior was quantitatively evaluated from the ball-screw displacements measured using ArUco-marker tracking. MCP actuation produced measurable displacements of the PIP and DIP transmission units, whereas isolated PIP and DIP actuation with the MCP fixed supported the intended mechanical decoupling between the distal transmissions. The mean peak fingertip forces under isolated MCP, PIP, and DIP actuation were 21.28 N, 9.22 N, and 5.75 N, respectively. The resulting finger postures were also examined using objects of different geometries and sizes.