一种具有混合SMA-电机驱动的21自由度人形灵巧手：CYJ Hand-0
A 21-DOF Humanoid Dexterous Hand with Hybrid SMA-Motor Actuation: CYJ Hand-0
AI总结：
本文提出CYJ Hand-0，一款21自由度人形灵巧手，通过结合SMA与直流电机的混合腱驱动系统及3D打印金属骨架，实现仿人手的屈曲、伸展与外展动作，实验验证了其仿生灵巧性。
摘要：
CYJ Hand-0是一款21自由度的人形灵巧手，采用混合腱驱动系统，结合了形状记忆合金（SMA）和直流电机。该手使用高强度钓鱼线作为人工肌腱，并采用全3D打印的AlSi10Mg金属框架，旨在复现人手的骨骼和肌腱-肌肉结构。一个直线电机驱动模块控制手指屈曲，而基于SMA的模块实现手指伸展和侧向外展。这些模块集成到一个紧凑的混合驱动单元中，安装在定制的后支撑结构上。在基于Arduino Mega 2560的控制系统下进行的机械学和运动学实验验证了设计的有效性，并展示了其仿生灵巧性。
英文摘要：
CYJ Hand-0 is a 21-DOF humanoid dexterous hand featuring a hybrid tendon-driven actuation system that combines shape memory alloys (SMAs) and DC motors. The hand employs high-strength fishing line as artificial tendons and uses a fully 3D-printed AlSi10Mg metal frame designed to replicate the skeletal and tendon-muscle structure of the human hand. A linear motor-driven module controls finger flexion, while an SMA-based module enables finger extension and lateral abduction. These modules are integrated into a compact hybrid actuation unit mounted on a custom rear support structure. Mechanical and kinematic experiments, conducted under an Arduino Mega 2560-based control system, validate the effectiveness of the design and demonstrate its biomimetic dexterity.
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。
