arXiv 2605.178512026-05-18cs.RO

一种具有软液压驱动的灵活机械手用于微重力操作

A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation

Aerospace Engineering Program, University of California, Berkeley（加州大学伯克利分校航空航天工程系）；Department of Mechanical Engineering, University of California, Berkeley（加州大学伯克利分校机械工程系）；Department of Mechanical Engineering, National University of Singapore（新加坡国立大学机械工程系）

William Su, Jordan Kam, Yixiao Wang, Jianshu Zhou

备注：: Accepted to the IEEE ICRA 2026 Space Robotics Workshop (SRW). 4 pages, 3 figures

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AI总结：

本文提出将DexCoHand灵活的双指六自由度机械手与Astrobee自由飞行机器人集成，以实现微重力环境下的灵活操作，该机械手在保持稳定接触的同时减少了对自由飞行基底的干扰，提高了操作的连续性和适应性。

摘要：

Astrobee现有的单自由度（DOF）欠驱动柔性爪形抓取器能够停靠在国际空间站（ISS）上，但对连续的灵活操作能力有限。更复杂的微重力任务需要一个能够保持稳定接触并限制对自由飞行基底的干扰的末端执行器，因为接触力会直接耦合到基底运动中。本文提出了将DexCoHand（一种灵活的双指六自由度抓取器）与Astrobee自由飞行机器人集成，以实现微重力操作。该系统在MuJoCo中使用Astrobee的标准手rail停靠序列进行评估，包括接近、停靠以及随后的俯仰和偏转运动。与Astrobee现有的抓取器相比，DexCoHand在保持命令的俯仰和偏转运动的同时，减少了意外的交叉轴基底运动。在地球上的硬件实验进一步展示了DexCoHand的灵活操作能力和其在更适应的智能操作任务中的潜力。

英文摘要：

Astrobee's existing one-degree-of-freedom (DOF) underactuated compliant claw gripper enables perching on the International Space Station (ISS), but provides limited capability for continuous dexterous manipulation. More complex microgravity tasks require an end-effector that can maintain stable contact while limiting disturbance to the free-flying base, since contact forces directly couple into base motion. This article presents the integration of DexCoHand, a dexterous and compliant two-finger, 6-DOF gripper, with the Astrobee free-flying robot for microgravity manipulation. The system is evaluated in MuJoCo using Astrobee's standard handrail perching sequence, including approach, perching, and subsequent pan and tilt motions. Compared with Astrobee's existing gripper, DexCoHand preserves the commanded pan and tilt motions while reducing unintended cross-axis base motion. Hardware experiments on Earth further demonstrate DexCoHand's dexterous manipulation capabilities and its potential for more adaptable intelligent manipulation tasks.

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。