ByteWrist:一种并行机器人手腕,实现受限空间中的灵活拟人运动
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行腕部装置——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行驱动机制,有效解决了现有串行和并行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、医疗辅助和精密装配等复杂非结构化环境。主要创新点包括:(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,在不牺牲灵活性的前提下增强结构刚度。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。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.