State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150001, Harbin, China.
Nat Commun. 2023 Jan 30;14(1):500. doi: 10.1038/s41467-023-36243-3.
Multiple degrees of freedom (DOFs) motion manipulation of various objects is a crucial skill for robotic systems, which relies on various robotic hands. However, traditional robotic hands suffer from problems of low manipulation accuracy, poor electromagnetic compatibility and complex system due to limitations in structures, principles and transmissions. Here we present a direct-drive rigid piezo robotic hand (PRH) constructed on functional piezoelectric ceramic. Our PRH holds four piezo fingers and twelve motion DOFs. It achieves high adaptability motion manipulation of ten objects employing pre-planned functionalized hand gestures, manipulating plates to achieve 2L (linear) and 1R (rotary) motions, cylindrical objects to generate 1L and 1R motions and spherical objects to produce 3R motions. It holds promising prospects in constructing multi-DOF ultra-precision manipulation devices, and an integrated system of our PRH is developed to implement several applications. This work provides a new direction to develop robotic hand for multi-DOF motion manipulation from micro scale to macro scale.
多自由度（DOFs）运动操纵各种物体是机器人系统的一项关键技能，这依赖于各种机器人手。然而，传统的机器人手由于结构、原理和传动方面的限制，存在操纵精度低、电磁兼容性差和系统复杂等问题。在这里，我们提出了一种基于功能压电陶瓷的直接驱动刚性压电机器人手（PRH）。我们的 PRH 有四个压电手指和十二个运动自由度。它通过预规划的功能化手势，实现了对十个物体的高适应性运动操纵，操纵板实现 2L（线性）和 1R（旋转）运动，圆柱形物体实现 1L 和 1R 运动，球形物体实现 3R 运动。它在构建多自由度超精密操纵装置方面具有广阔的前景，我们开发了 PRH 的集成系统来实现多个应用。这项工作为从微观尺度到宏观尺度的多自由度运动操纵开发机器人手提供了新的方向。
