PACT：面向腱驱动机械手的姿态鲁棒驱动协同设计
PACT: Pose-Robust Actuation Co-Design for Tendon-Driven Robotic Hands
Prashant Kumar, Rachael Granberry, Taylor Niehues, Andrew A. Stanley, Gabe Pirie
AI 速览：提出PACT框架，在姿态相关力需求与驱动带宽约束下联合优化腱走线、力臂与绞盘尺寸，用于腱驱动机械手设计。
Humanoid robotic hands must provide sufficient force, speed, and backdrivability within a human-scale envelope. Tendon-driven transmissions address this challenge by relocating actuators to the palm and forearm, but routing paths, moment arms, and capstan dimensions jointly determine both force capability and joint speed, so selecting them sequentially satisfies one requirement at the expense of the other. This paper presents a pose-robust actuation co-design for tendon-driven robot hands (PACT) framework that optimizes tendon routing, moment arms, and capstan dimensions under pose-dependent force requirements and drivetrain-bandwidth constraints. A feasible-force formulation enforces actuator bounds and equilibrium at all joints, while a max-min objective maximizes task-force coverage at the weakest pose. Applied to a four-degree-of-freedom finger, the framework produces an asymmetric N + 1 tendon topology using quasi-direct-drive actuators. Across eight poses, the design achieves task-force coverage of 0.88-1.00 and a predicted 5 Hz minimum isolated-joint flexion/extension bandwidth within a 70th-percentile human-size envelope. Prototype measurements deviate from predictions by up to 24.5%, primarily due to unmodeled transmission losses. These results indicate that co-designing routing with the drivetrain can meet pose-dependent force requirements without relaxing the bandwidth constraint, paving the way for human-sized robotic hands with human-level performance.