AI 中文总结
研究具有空间移动性的欠驱动机器人手指，通过创新设计简化运动复杂性，引入稳定性标准和差动机构，经实验验证理论结果，降低了机械复杂性等，推动了柔顺机器人手发展，为未来自主操作研究奠定基础。
AI 中文摘要
本文提出了一种具有空间移动性的欠驱动机器人手指的创新设计与稳定性分析，旨在提高机器人手的抓握灵活性。手指结构在其基部包含一个旋转关节，实现被动空间旋转，便于圆柱和球形抓握。每个手指仅有两个指骨，简化了运动复杂性，同时支持精确和包络抓握。引入基于接触力在手指基部关节产生的力矩的稳定性标准，以确保可靠抓握并防止操作过程中物体弹出。研究还考察了一种将单个驱动扭矩分配到多个手指的差动机构，实现自适应和协调运动。通过全机械原型对理论结果进行实验验证，展示了在执行圆柱、球形、平行和包络抓握方面的通用性。欠驱动在单个手指和多个手指间的整合降低了机械复杂性、成本和控制需求，同时保持功能适应性。这项工作推动了适用于农业机器人、物流、辅助技术和垃圾分类等需要灵活性和鲁棒性的应用的柔顺机器人手的发展。未来研究将专注于驱动自动化和控制策略优化，以进一步提高抓握稳定性和精度，为非结构化环境中的自主操作铺平道路。
英文摘要
This paper presents an innovative design and stability analysis of an underactuated robotic finger with spatial mobility, designed to enhance gripping dexterity in robotic hands. The finger architecture incorporates a revolute joint at its base, enabling passive spatial rotation that facilitates both cylindrical and spherical grasping. With only two phalanges per finger, the design simplifies kinematic complexity while supporting precision and enveloping grasps. Stability criteria, based on the moment at the finger base joint induced by contact forces, are introduced to ensure reliable object gripping and prevent ejection during manipulation. The study also examines a differential mechanism that distributes a single actuation torque across multiple fingers, allowing adaptive and coordinated motion. This mechanism enhances the hand's ability to grasp diverse object shapes with minimal pre-grasp adjustments, leveraging passivity for autonomous adaptation. Theoretical findings are experimentally validated using a fully mechanical prototype, demonstrating versatility in performing cylindrical, spherical, parallel, and enveloping grasps. The integration of underactuation-both within individual fingers and among multiple fingers-reduces mechanical complexity, cost, and control demands while preserving functional adaptability. This work advances the development of compliant robotic hands suitable for applications requiring dexterity and robustness, such as agricultural robotics, logistics, assistive technologies, and waste sorting. Future research will focus on automating actuation and refining control strategies to further improve grasp stability and precision, paving the way for autonomous manipulation in unstructured environments.
Journal refProceedings of the ASME 2026 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference, ASME, Aug 2026, Houston, United States
