张爱民1 冯嘉枢2 周仁义1,2 罗力2 吴桥文2
（1.广汽集团汽车工程研究院，广东 广州 511434
2.广东工业大学机电工程学院仿生与智能机器人实验室，广东 广州 510006）
摘要：针对当前仿人服务机器人多指手存在的结构复杂、价格高昂、功能有限等问题，提出一种结构简单、成本低廉、功能丰富的绳驱动模块化仿人多指手。基于人手动作中各关节呈现运动耦合的特性，采用单电机驱动单指的方案，通过腱绳传动同步驱动手指的多个关节；采用模块化设计理念，将食指、中指、无名指与尾指设计为结构相同的模块，大拇指则单独设计为另一功能模块。各手指主体均采用一体化3D打印成型，并安装在手掌上构成完整的多指手系统，其控制系统硬件高度集成于手掌内部。经手势动作、抓握与抓握力实验验证，该多指手以较少的驱动单元和简化的传动结构，实现多样化的手势表达及对25种物品的稳定抓握，抓握力达13.29 N，满足仿人服务机器人在典型抓取任务与服务场景中的功能需求。
关键词：绳驱动；仿人多指手；模块化；结构设计；抓握能力；系统集成
中图分类号：TP242 文献标志码：A 文章编号：1674-2605(2026)01-0004-07
DOI：10.12475/aie.20260104 开放获取
Structural Design and System Integration of Tendon-driven Modular Humanoid Multi-fingered Hand
ZHANG Aimin1 FENG Jiashu2 ZHOU Renyi1,2 LUO Li2 WU Qiaowen2
(1.R&D Center, Guangzhou Automobile Group, Guangzhou 511434, China
2.Biomimetics and Intelligent Robotics Lab, School of Mechanical and Electrical Engineering, Guangdong University of Technology, Guangzhou 510006, China
Abstract:In response to current issues in humanoid service robot multi-fingered hands—such as complex structures, high cost, and limited functionality—a tendon-driven modular humanoid multi-fingered hand with a simple structure, low cost, and rich functionality is proposed. Based on the motion coupling characteristics of human hand joints during action, a single-motor-driven single-finger scheme is adopted, using tendon transmission to synchronously drive multiple joints of the finger. Embracing a modular design philosophy, the index, middle, ring, and little fingers are designed as structurally identical modules, while the thumb is separately designed as another functional module. The main body of each finger is formed through integrated 3D printing and assembled on the palm to construct a complete multi-fingered hand system, with the control system hardware highly integrated inside the palm. Experimental validation through gesture motion tests, grasping experiments, and grip force tests demonstrates that this multi-fingered hand, with fewer driving units and a simplified transmission structure, achieves diverse gesture expressions and stable grasping of 25 types of objects, with a grip force of up to 13.29 N, meeting the functional requirements of humanoid service robots in typical grasping tasks and service scenarios.
Keywords:tendon-driven; humanoid multi-fingered hand; modular design; structural design; grasping capability;system integration
