发表机构
The University of Tokyo; AI Center, Graduate School of Information Science and Technology, The University of Tokyo（东京大学; 东京大学信息科学与技术研究院AI中心）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出可分离钢丝驱动的可重构机器人架构，通过钢丝分离单元实现执行器共享，开发出多种可互换部件，经实验验证其机械可靠性与构型转换能力，为高效多功能机器人提供新方案。
AI 中文摘要
可重构机器人具备适应多样化任务的巨大潜力，但传统集中式架构通常为每个模块配备专用执行器，导致系统整体重量、体积和成本大幅增加。为解决这些挑战，本文提出“可分离钢丝驱动（Detachable Wire Drive）”系统，该可重构机器人系统可在多种形态间共享重型且昂贵的执行器。系统核心是“钢丝分离单元（Wire Detach Unit）”，该机构用于物理分离和重连钢丝驱动路径，使电机可整合到共用基座单元中。我们通过开发2自由度刚性臂、连续体臂及两个不同夹具，验证该方法的通用性，所有部件均可互换连接至单一共享执行器组并由其驱动。实验结果证实分离过程的机械可靠性，以及控制框架无缝管理不同构型间转换的能力，为构建更高效、多功能的机器人系统提供了可行路径。
英文摘要
Reconfigurable robots offer significant potential for adapting to diverse tasks; however, conventional centralized architectures often require dedicated actuators for each module, leading to substantial increases in overall system weight, volume, and cost. To address these challenges, this paper presents the "Detachable Wire Drive," a reconfigurable robotic system that enables the sharing of heavy and expensive actuators across various morphologies. The core of this system is the "Wire Detach Unit," a mechanism designed to physically split and reconnect wire drive paths, allowing motors to be consolidated into a common base unit. We demonstrate the versatility of this approach by developing a 2-DOF rigid arm, a continuum arm, and two distinct grippers, all of which are interchangeably attached to, and driven by, a single shared actuator set. Experimental results validate the mechanical reliability of the detachment process and the control framework's ability to seamlessly manage transitions between configurations, highlighting a path toward more efficient and multi-functional robotic systems.
CommentsAccepted at IROS2026, website - https://hatofly.github.io/detachable-wire-drive/
