发表机构
The University of Tokyo（东京大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究提出一种基于NSGA-II的多目标优化方法，通过肌腱缠绕与捷径效应平衡扭矩与厚度，获得帕累托最优设计，为紧凑高扭矩臂提供设计指南。
AI 中文摘要
本研究提出了一种用于肌腱驱动臂设计的多目标优化方法，通过肌腱缠绕与捷径效应来解决关节扭矩与臂厚之间的固有权衡。我们将问题表述为同时最大化扭矩并最小化厚度，并使用NSGA-II算法进行求解。该算法优化了肌腱路径、滑轮配置和附着点。结果显示，帕累托最优设计通过策略性捷径实现了有效的力臂扩展，为紧凑型高扭矩臂提供了实用设计指南。优化后的配置展现出超越传统设计直觉的非平凡模式，为工程高效机器人系统提供了新的见解。
英文摘要
This study proposes a multi-objective optimization method for tendon-driven arm design, addressing the inherent trade-off between joint torque and arm thickness through tendon wrapping and shortcut effects. We formulate the problem to simultaneously maximize torque and minimize thickness, solved using NSGA-II. The algorithm optimizes tendon routing, pulley configurations, and attachment points. Results reveal Pareto-optimal designs with effective moment arm expansion via strategic shortcuts, providing practical guidelines for compact high-torque arms. The optimized configurations demonstrate non-trivial patterns beyond conventional design intuition, offering new insights for engineering efficient robotic systems.
CommentsAccepted to Advanced Robotics, website: https://haraduka.github.io/opt-wrap-shortcut
DOI：10.1080/01691864.2026.2723650
