论文标题
基于春季激动剂的设计范式，用于机器人手不足的手：概念和应用
Design Paradigms Based on Spring Agonists for Underactuated Robot Hands: Concepts and Application
论文作者
论文摘要
在本文中，我们将重点放在不足的机器人手的设计中很少使用的范式：将弹簧用作激动剂和肌腱作为拮抗剂。我们在设计矩阵中正式化了这种方法，该方法还考虑了其与所使用的不足方法的相互作用（一种肌腱与一个运动轴上的多个肌腱相比）。然后，我们展示该设计矩阵中的不同单元格是如何合并的，以促进与单个电动机一起实现所需的姿势协同作用。此外，我们表明，当激动剂和拮抗剂肌腱合并在同一运动轴上时，可以利用产生的弹簧取消来产生多种期望的行为，我们在物理原型中证明了这一点。
In this paper, we focus on a rarely used paradigm in the design of underactuated robot hands: the use of springs as agonists and tendons as antagonists. We formalize this approach in a design matrix also considering its interplay with the underactuation method used (one tendon for multiple joints vs. multiple tendons on one motor shaft). We then show how different cells in this design matrix can be combined in order to facilitate the implementation of desired postural synergies with a single motor. Furthermore, we show that when agonist and antagonist tendons are combined on the same motor shaft, the resulting spring force cancellation can be leveraged to produce multiple desirable behaviors, which we demonstrate in a physical prototype.
