Problem
Research questions and friction points this paper is trying to address.
Robotic Finger
2-DoF MCP Joint
Passive Continuously Variable Transmission
Force-Speed Operating Range
Functional Differentiation
A Compact Robotic Finger with 2-DoF MCP Joint Embedding DoF-Selective Passive Continuously Variable Transmission for Wide Force-Speed Operating Range
🤖 AI Summary
本文提出了一种具有2自由度MCP关节的紧凑型机器人手指，通过嵌入被动连续可变传动实现宽广的力量-速度操作范围。
📝 Abstract
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.
Innovation
Methods, ideas, or system contributions that make the work stand out.
passive continuously variable transmission
wide force-speed operating range
two-degree-of-freedom (DoF)
flexion-selective
scalable transmission design
🔎 Similar Papers
2024-10-01arXiv.orgCitations: 2
