发表机构
Korea Advanced Institute of Science and Technology（韩国科学技术院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出一种带2自由度MCP关节的紧凑型机器人手指，嵌入自由度选择性被动CVT，通过力响应式传动适配实现宽力-速工作范围，实验验证其力放大效果及灵巧操作能力，提供可扩展的传动设计策略。
AI 中文摘要
本论文提出了一种紧凑型2自由度（DoF）机器人手指，其带有屈伸选择性被动无级变速器（CVT），以实现宽力-速工作范围。受人类掌指关节（MCP）功能分化的启发，所提出的机构通过选择性地为屈伸自由度分配被动CVT，同时保留外展-内收自由度的直接传动，实现了特定自由度的传动分化。为获得宽力-速工作范围，在屈伸传动路径中嵌入了力响应型被动CVT，而外展-内收传动路径则保留直接传动。为在多自由度MCP机构内选择性实现传动适配，引入了一种采用动滑轮式走线结构的输出侧被动CVT。由线张力作用在滑轮上产生的合力，可根据施加的负载被动增加屈伸力臂和传动比，无需额外的执行器、传感器或控制装置。实验结果表明，在15度至75度的屈伸角度范围内，通过力臂适配，最大输出力放大倍数为4.19倍，平均放大倍数为3.6倍，从而大幅扩展了可实现的力-速工作范围。此外，灵巧滚球实验验证了在保留外展-内收功能的同时，可实现被动传动适配。这些结果为紧凑型多自由度机器人手展示了一种可扩展的传动设计策略。
英文摘要
This letter presents a compact two-degree-of-freedom (DoF) robotic finger with a flexion-selective passive continuously variable transmission (CVT) to achieve a wide force-speed operating range. Inspired by the functional differentiation of the human metacarpophalangeal (MCP) joint, the proposed mechanism realizes DoF-specific transmission differentiation by selectively assigning passive CVT to the flexion-extension DoF while preserving direct transmission for abduction-adduction. For a wide force-speed operating range, a force-responsive passive CVT is embedded in the flexion pathway, while direct transmission is preserved for the abduction-adduction pathway. To selectively realize transmission adaptation within a multi-DoF MCP mechanism, an output-side passive CVT employing a moving-pulley-inspired wire-routing structure is introduced. The resultant force generated by the wire tensions acting on the pulley that passively increases the flexion moment arm and transmission ratio according to the applied load without additional actuators, sensors, or control. Experimental results demonstrate a maximum output-force amplification of 4.19-fold and a mean amplification of 3.6-fold across the tested flexion angles ranging from 15 degrees to 75 degrees through moment-arm adaptation, thereby substantially expanding the achievable force-speed operating range. Furthermore, dexterous ball-rolling experiments verify that passive transmission adaptation can be achieved while preserving abduction-adduction functionality. These results demonstrate a scalable transmission design strategy for compact multi-DoF robotic hands.
Comments9 pages, 4 figures
