能够击败专业选手的乒乓球机器人硬件设计
Hardware Design for Table Tennis Robot Capable of Beating Professional Players
AI总结：
本文通过分析精英运动员动作，定义工作空间、负载等指标，设计8自由度机器人Ace，采用拓扑优化和逆动力学选型，实现0.8秒全挥杆周期和22米/秒峰值速度，成功击败多位专业选手。
摘要：
本文重点研究乒乓球机器人击败专业选手所需的硬件规格。在分析精英运动员的动作后，我们定义了工作空间、负载、外力抵抗、物理性能、发球能力和末端执行器精度的目标规格。基于这些规格，我们开发了定制的8自由度机器人“Ace”。通过拓扑优化改进机械结构，在保持刚度的同时最小化质量。使用逆动力学扭矩模型优化电机和减速器选型。识别了带延迟补偿的低阶单关节动力学模型，并集成到仿真中以支持强化学习控制策略。实验表明，机器人实现了0.8秒的重复全挥杆周期和22米/秒的球拍中心峰值速度。该机器人成功击败了多位专业选手。
英文摘要：
This paper focuses on the hardware specifications required for a table tennis robot to beat professional players. After analyzing the motions of elite players, we defined target specifications for the workspace, payload, external-force resistance, physical performance, serve capability, and end-effector accuracy. Based on these specifications, we developed "Ace", a custom 8-DoF robot. The mechanical structure was improved through topology optimization to minimize mass while preserving stiffness. Motor and gearbox selection was optimized using an inverse-dynamics torque model. Low-order per-joint dynamics models with delay compensation were identified and integrated into simulation to enable the use of an RL control policy. Experiments demonstrated repeated full-stroke swings with a cycle time of 0.8 s and a peak racket-center velocity of 22 m/s. The robot successfully defeated multiple professional players.
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。
