ByteWrist：一款平行機械手腕，實現靈活且仿生運動，適用於狹小空間

ByteWrist: A Parallel Robotic Wrist Enabling Flexible and Anthropomorphic Motion for Confined Spaces

September 22, 2025

作者: Jiawen Tian, Liqun Huang, Zhongren Cui, Jingchao Qiao, Jiafeng Xu, Xiao Ma, Zeyu Ren

cs.AI

摘要

本文介绍了一种新型高度灵活且拟人化的并联腕部装置——ByteWrist，专为机器人操作设计。ByteWrist通过集成弧形末端连杆的紧凑型三级并联驱动机制，有效解决了现有串联与并联腕部在狭小空间操作中的关键限制。该设计在实现精确RPY（滚转-俯仰-偏航）运动的同时，保持了卓越的紧凑性，使其特别适用于家庭服务、医疗辅助及精密装配等复杂非结构化环境。其核心创新点包括：(1) 嵌套式三级电机驱动连杆，在最小化体积的同时实现独立多自由度控制；(2) 弧形末端连杆，优化力传递并扩大运动范围；(3) 作为球面关节的中心支撑球，增强结构刚度而不牺牲灵活性。此外，我们提供了全面的运动学建模，包括正/逆运动学及用于精确控制的数值雅可比矩阵解法。实验表明，ByteWrist在狭小空间机动性和双臂协同操作任务中表现出色，优于基于Kinova的系统。结果显示，与传统设计相比，ByteWrist在紧凑性、效率和刚度方面均有显著提升，确立了其作为受限环境下新一代机器人操作解决方案的潜力。

English

This paper introduces ByteWrist, a novel highly-flexible and anthropomorphic parallel wrist for robotic manipulation. ByteWrist addresses the critical limitations of existing serial and parallel wrists in narrow-space operations through a compact three-stage parallel drive mechanism integrated with arc-shaped end linkages. The design achieves precise RPY (Roll-Pitch-Yaw) motion while maintaining exceptional compactness, making it particularly suitable for complex unstructured environments such as home services, medical assistance, and precision assembly. The key innovations include: (1) a nested three-stage motor-driven linkages that minimize volume while enabling independent multi-DOF control, (2) arc-shaped end linkages that optimize force transmission and expand motion range, and (3) a central supporting ball functioning as a spherical joint that enhances structural stiffness without compromising flexibility. Meanwhile, we present comprehensive kinematic modeling including forward / inverse kinematics and a numerical Jacobian solution for precise control. Empirically, we observe ByteWrist demonstrates strong performance in narrow-space maneuverability and dual-arm cooperative manipulation tasks, outperforming Kinova-based systems. Results indicate significant improvements in compactness, efficiency, and stiffness compared to traditional designs, establishing ByteWrist as a promising solution for next-generation robotic manipulation in constrained environments.