发表机构
Advanced Robotics Research Center, Korea Institute of Machinery & Materials (KIMM); Mechanical Engineering, University of Science & Technology (UST)（韩国机械与材料研究院（KIMM）先进机器人研究中心; 科学技术大学（UST）机械工程系）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文设计了一种全驱动4自由度机器人手指，采用关节特异性混合远程驱动架构，实现MCP刚性连杆与PIP/DIP线缆独立驱动，并验证了机械解耦与指尖力性能。
AI 中文摘要
本文提出了一种采用关节特异性混合远程驱动架构的全驱动4自由度机器人手指。掌指（MCP）关节由两套协调的刚性连杆传动组驱动，而近端指间（PIP）和远端指间（DIP）关节则通过包含圆形滚动接触关节（RCJ）的闭环线缆传动独立驱动。PIP关节使用比DIP关节更大的传动半径。RCJ线缆几何结构在关节旋转期间保持总线环长度不变，并且DIP线缆布线设计使得在固定MCP构型下，PIP运动不影响其差动驱动。对远端线缆传动、MCP连杆机构以及指尖运动学进行了解析建模。在实验中，通过使用ArUco标记跟踪测量的滚珠丝杠位移，定量评估了传动行为。MCP驱动产生了PIP和DIP传动单元的可测量位移，而在MCP固定时，独立的PIP和DIP驱动支持了远端传动之间预期的机械解耦。在独立MCP、PIP和DIP驱动下，平均峰值指尖力分别为21.28 N、9.22 N和5.75 N。还使用不同几何形状和尺寸的物体检查了由此产生的手指姿态。
英文摘要
This paper presents a fully actuated 4-DOF robotic finger using a joint-specific hybrid remote-actuation architecture. The metacarpophalangeal (MCP) joint is driven by two coordinated rigid-link transmission sets, whereas the proximal interphalangeal (PIP) and distal interphalangeal (DIP) joints are independently actuated by closed-loop wire transmissions incorporating circular rolling-contact joints (RCJs). A larger transmission radius is used at the PIP joint than at the DIP joint. The RCJ wire geometry maintains the total wire-loop length during joint rotation, and the DIP wire routing is designed so that PIP motion does not affect its differential actuation for a fixed MCP configuration. The distal wire transmission, MCP linkage, and fingertip kinematics are analytically modeled. In experiments, the transmission behavior was quantitatively evaluated from the ball-screw displacements measured using ArUco-marker tracking. MCP actuation produced measurable displacements of the PIP and DIP transmission units, whereas isolated PIP and DIP actuation with the MCP fixed supported the intended mechanical decoupling between the distal transmissions. The mean peak fingertip forces under isolated MCP, PIP, and DIP actuation were 21.28 N, 9.22 N, and 5.75 N, respectively. The resulting finger postures were also examined using objects of different geometries and sizes.
Comments10 pages, 10 figures. This manuscript has been submitted for possible publication
