一种用于腱驱动手的直接刚性传动二自由度腕部扩展装置
A Direct Rigid Transmission 2-DoF Wrist Extension for Tendon-Driven Hand
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- University of California-Irvine（加州大学尔湾分校）
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中文总结 AI 辅助
提出CRAFT-Wrist，一种用于腱驱动手的同心二自由度腕部扩展装置，通过刚性传动实现局部方向控制，工作空间为±20°桡尺偏和+80°/-18°前后范围，并在抓取、钉钉和擦黑板中验证了其效用。
中文摘要 AI 辅助
在受限空间中进行灵巧操作需要对手的局部方向进行控制。如果没有腕部，灵巧手必须通过机器人手臂的协调运动来获得这种局部方向，这通常涉及多个关节和更复杂的末端执行器路径。我们提出了CRAFT-Wrist，一种同心二自由度腕部扩展装置，可安装在机器人手臂和CRAFT Hand之间，无需修改手部。两个XC430-T240BB-T伺服电机通过短刚性传动驱动侧向和前后旋转。我们的初始硬件原型在负载下驱动两个轴，实现了在桡尺偏（左右）方向±20°的演示工作空间，以及前后方向+80°屈曲和-18°伸展的范围。我们表征了在多种腕部姿态下产生的指部电机负载，并演示了腕部如何在抓取、钉钉和擦黑板中提供局部方向。演示和组装说明可在该https URL获取。
英文摘要
Dexterous manipulation in confined spaces requires local control of hand orientation. Without a wrist, a dexterous hand must obtain this local orientation through coordinated motion of the robot arm, often involving several joints and a more complex end-effector path. We present CRAFT-Wrist, a concentric 2-DoF wrist extension that mounts between a robot arm and the CRAFT Hand without modifying the hand. Two XC430-T240BB-T servos drive sideways and front-back rotation through short rigid transmissions. Our initial hardware prototype actuates both axes under load, achieving a demonstrated workspace of $\pm20^{\circ}$ in radial--ulnar deviation (left--right) and a front-back range of $+80^{\circ}$ in flexion and $-18^{\circ}$ in extension. We characterize the resulting finger-motor loading across several wrist postures and demonstrate how the wrist supplies local orientation in grasping, nail hammering, and blackboard wiping. Demonstrations and assembly instructions are available at https://craft-wrist.github.io/.
