MuxHand：采用时分复用电机驱动的绳驱灵巧机械手
MuxHand: A Cable-driven Dexterous Robotic Hand Using Time-division Multiplexing Motors
AI总结：
提出MuxHand，利用时分复用电机机制以4电机控制9绳，降低成本并保持灵巧性，磁性关节增强稳定性，实验验证抓取与操作性能，指尖负载达1.0千克。
摘要：
机器人灵巧手负责抓取和灵巧操作。电机数量直接影响此类系统的灵巧性和成本。本文提出了MuxHand，一种采用时分复用电机（TDMM）机制的机械手。该系统仅用4个电机即可独立控制9根绳索，在保持高灵巧性的同时显著降低成本。为增强抓取和操作任务中的稳定性与平滑性，我们在三个3D打印手指中集成了磁性关节。这些关节具有优异的抗冲击性和自复位能力。我们进行了一系列实验来评估MuxHand的抓取和操作性能。结果表明，TDMM机制能够精确控制每根连接到手指关节的绳索，实现稳健的抓取和灵巧操作。此外，指尖负载能力达到1.0千克，磁性关节有效吸收冲击并在无损伤情况下纠正错位。
英文摘要：
The robotic dexterous hand is responsible for both grasping and dexterous manipulation. The number of motors directly influences both the dexterity and the cost of such systems. In this paper, we present MuxHand, a robotic hand that employs a time-division multiplexing motor (TDMM) mechanism. This system allows 9 cables to be independently controlled by just 4 motors, significantly reducing cost while maintaining high dexterity. To enhance stability and smoothness during grasping and manipulation tasks, we have integrated magnetic joints into the three 3D-printed fingers. These joints offer superior impact resistance and self-resetting capabilities. We conduct a series of experiments to evaluate the grasping and manipulation performance of MuxHand. The results demonstrate that the TDMM mechanism can precisely control each cable connected to the finger joints, enabling robust grasping and dexterous manipulation. Furthermore, the fingertip load capacity reached 1.0 kg, and the magnetic joints effectively absorbed impact and corrected misalignments without damage.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
