发表机构
Sogang University（西江大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出新型9自由度三指差动直接驱动夹爪，结合低减速比差动传动，实现低阻抗、高带宽透明物理交互，解决力矩与硬件复杂度的权衡，为无传感器力估计提供基础。
AI 中文摘要
传统机器人夹爪常采用高减速比传动装置来产生抓取力矩，并使用外部力传感器测量物理交互。高减速比传动装置会增加摩擦、反射惯性和机械阻抗，而外部传感器则会增加硬件复杂度。为解决这些权衡问题，本研究提出了一种新型9自由度三指差动直接驱动（DDD）夹爪，该夹爪将直接驱动（DD）电机与低减速比（1:2）差动传动装置相结合。该机构将执行器质量集中在基座以最小化运动连杆惯性，同时差动结构并联耦合两台电机，在弯曲时放大力矩。实验表明，该原型夹爪可提供约18N的标称抓取力和4.7N的指尖力，同时保持电机对系统惯性的低贡献（0.236%），以及低被动机械阻抗，在电机未通电时测得的最大值为50.1N/m。所提出的硬件解决了力矩、物理透明度和运动灵巧性之间的权衡问题，为高带宽交互和无传感器本体感受力估计提供了基础。
英文摘要
Conventional robotic grippers often use high-ratio transmissions to generate grasping torque and external force sensors to measure physical interaction. High-ratio transmissions increase friction, reflected inertia, and mechanical impedance, while external sensors add hardware complexity. To address these trade-offs, this study proposes a novel 9-DOF, three-fingered Differential Direct-Drive (DDD) gripper that combines DD motors with a low-ratio (1:2) differential transmission. The mechanism centralizes actuator mass at the base to minimize moving-link inertia, while the differential architecture couples two motors in parallel to amplify torque during flexion. Experiments show that the prototype delivers a nominal grasping force of approximately 18 N and a fingertip force of 4.7 N, while maintaining a low motor contribution to system inertia (0.236%) and low passive mechanical impedance, with a maximum measured value of 50.1 N/m when the motors are unpowered. The proposed hardware addresses the trade-offs among torque, physical transparency, and kinematic dexterity, providing a foundation for high-bandwidth interaction and sensorless proprioceptive force estimation.
CommentsICRA 2026 (Late Breaking Result Poster)
