瑞萨电子 (Renesas Electronics Corporation)
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灵巧型机器人手

概述

本款灵巧型机器人手系统提供多种架构，以满足不同的终端应用场景和手部功能要求：

  • 全面的高性能灵巧型机械手系统：采用能够支持 17 个自由度（DOF）的架构，可实现精细精准的电机控制和运动。 该系统具有与工业网络兼容的接口、用于系统反馈的集成式传感器，以及用于驱动手部、手腕和手指关节运动的多个电机控制子系统。 这使其能够无缝集成到机械臂或人形机器人等机器人平台中。
  • 模块化机器人手关节控制和驱动系统：支持专注于简化运动（如手指关节驱动）和模块化集成的实现方案。 根据所选处理器，可在超紧凑的外形下实现单电机或双电机控制。

系统优势：

  • 实时性能与高处理速度使系统命令、物理手部驱动和传感器之间能够进行闭环运行，从而实现流畅且无缝的运动。
  • 灵活的电机控制与驱动架构支持多种电机扩展（单、双或三电机），并允许根据性能要求选择控制器。
  • 支持 USB、EtherCAT® 和 RS-485 等工业接口，可轻松连接至其他系统和控制器。
  • 集成电机驱动 IC 具有内置保护功能（如过流和热关断），可在紧凑的设计中驱动多个电机和负载，从而实现流线型的手部外形。
  • 先进磁场定向控制（FOC）电机算法可提供高精度、平滑的运动和高效的关节控制。

方框图

选择相应模块，寻找适合您设计的产品

远程测试该板卡

该板卡已上线云上实验室（Lab on the Cloud)，使用我们的 PC 图形界面，无需实体板卡，便可在虚拟实验室中立即开始配置和测试设计。
启动云上实验室

具有 17 个 DOF 和集成式传感器的高性能灵巧型机器人手系统

WS077-4: WEBCurrent SamplingCurrent SamplingCurrent SamplingLine Arrow.203Line Arrow.193Line Arrow.115Line Arrow.210UUULine Arrow.215VVVLine Arrow.217WWWLine Arrow.283Connector dotted line.286Line Arrow.242UUULine Arrow.244VVVLine Arrow.246WWWSheet.312CrystalSheet.303Sheet.304Sheet.305Sheet.306Sheet.307Sheet.308Sheet.309LineLine.311Dual componentComponent block.631Motor Drive – HVPAKMotor Drive – HVPAKMotor Drive – HVPAKInput arrow24VIN24VIN24VINConnector Arrow5V5V5VLine Arrow1.1V1.1V1.1VLine Arrow.10Line Arrow.111.8V1.8V1.8V3.3V3.3V3.3VImpedance MeasurementImpedance MeasurementImpedance MeasurementBi-directionalPMICPMICPMICRobotic HandParallelogramParallelogram.14Parallelogram.15Parallelogram.16Trapezoid.18TrapezoidTrapezoid.20Trapezoid.21Trapezoid.22Trapezoid.23Trapezoid.24RectangleRectangle.26Semi CircleSheet.35Semi Circle.29Sheet.37Semi Circle.31Sheet.39Semi Circle.33Sheet.41Semi Circle.35Sheet.43Connector dotted lineTri component.187Component block.745Component block.631Signal Sense ConditionerSignal Sense ConditionerSignal Sense ConditionerBLDC MotorSquare.40Inductor.10Sheet.72Sheet.73Sheet.74Inductor.14Sheet.76Sheet.77Sheet.78Inductor.18Sheet.80Sheet.81Sheet.82Dynamic connectorDynamic connector.27Dynamic connector.25SquareSheet.87Square.41Sheet.89Sheet.90Sheet.91MotorSheet.55MMMForce SensorForce SensorForce SensorConnector Arrow.100Bi-directional.104Motor EncoderMotor EncoderMotor EncoderGear EncoderGear EncoderGear EncoderVertical Wire Bundle333Sheet.118Vertical Wire Bundle.119222Sheet.121Vertical Wire Bundle.122444Sheet.124Line Arrow.125Vertical Wire Bundle.126666Sheet.128Current SamplingCurrent SamplingCurrent SamplingLine Arrow.136UUUUUUVVVWWWLine Arrow.141VVVLine Arrow.143WWWMotor EncoderMotor EncoderMotor EncoderGear EncoderGear EncoderGear EncoderVertical Wire Bundle.194666Sheet.196Vertical Wire Bundle.197222Sheet.199Vertical Wire Bundle.200444Sheet.202Vertical Wire Bundle.204666Sheet.206Current SamplingCurrent SamplingCurrent SamplingSheet.225BLDC Motor.156Square.40Inductor.10Sheet.159Sheet.160Sheet.161Inductor.14Sheet.163Sheet.164Sheet.165Inductor.18Sheet.167Sheet.168Sheet.169Dynamic connectorDynamic connector.27Dynamic connector.25SquareSheet.174Square.41Sheet.176Sheet.177Sheet.178Motor.179Sheet.180MMMUUUVVVWWWDual MotorDual MotorDual MotorSingle Motor Board x5Single Motor Board x5Single Motor Board x5Bi-directional.229Connector dotted line.230Dual Motor Board x5Dual Motor Board x5Dual Motor Board x5Connector dotted line.237Connected signals arrowDual component.239Component block.631Motor Drive – HVPAKMotor Drive – HVPAKMotor Drive – HVPAKSheet.248BLDC Motor.156Square.40Inductor.10Sheet.252Sheet.253Sheet.254Inductor.14Sheet.256Sheet.257Sheet.258Inductor.18Sheet.260Sheet.261Sheet.262Dynamic connectorDynamic connector.27Dynamic connector.25SquareSheet.267Square.41Sheet.269Sheet.270Sheet.271Motor.179Sheet.273MMMUUUVVVWWWDual MotorDual MotorDual MotorMotor EncoderMotor EncoderMotor EncoderVertical Wire Bundle.287666Sheet.289Vertical Wire Bundle.290333Sheet.292Vertical Wire Bundle.295333Sheet.29725MHz25MHz25MHzEthernet LAN 2LANLANBi-directional.317RS-485RS-485RS-485Bi-directional.321USB-CUSB-CUSB-CUSB-CSheet.324Sheet.325Sheet.326Sheet.327Sheet.328Sheet.329Sheet.330Sheet.331Sheet.332Sheet.333Sheet.334Sheet.335Sheet.336Line Bi-directionalWS077-4WS077-4WS077-4Humanoid Cerebellum: 
AI ProcessingHumanoid Cerebellum: AI ProcessingHumanoid Cerebellum: AI ProcessingConnector dotted double arrowBuck RegulatorBuck RegulatorBuck RegulatorMotor Drive – HVPAKMotor Drive – HVPAKMotor Drive – HVPAKVertical Wire Bundle.363222Sheet.365444Sheet.367MPUMPUMPUSPISPISPICAN FDCAN FDCAN FDSCISCISCIPWMPWMPWMADCADCADCEtherCATEtherCATEtherCATCLKCLKCLKUSB HSUSB HSUSB HSUARTUARTUARTSheet.368Motor Control MCUMotor Control MCUMotor Control MCUCAN FDCAN FDCAN FDI2CI2CI2CSPISPISPII2CI2CI2CPWMPWMPWMADCADCADCSheet.369Motor Control MCUMotor Control MCUMotor Control MCUCAN FDCAN FDCAN FDSPISPISPII2CI2CI2CPWMPWMPWMADCADCADC

Motor Control MCU

Motor and inverter controller optimized for cost‑sensitive and space‑constrained applications, such as driving multiple distal joints in a dexterous robotic hand.
RA Arm Cortex-M MCU
RA Arm Cortex-M MCU
应用说明

Motor Control MCU

Motor controller with a dedicated hardware accelerator to enable high‑speed, high‑response motor algorithms and improve parallel processing performance.
RA Arm Cortex-M MCU
RA Arm Cortex-M MCU
应用说明

RS-485

ESD‑protected (IEC 61000) transceivers with protection and compliance to RS‑485 and RS‑422 standards for robust communication, ideal for connecting the hand system to other essential systems for communication and control.
RS-485/422、RS-232 和多协议收发器
应用说明

Buck Regulator

降压稳压器（集成 FET）

PMIC

多通道电源管理集成电路（PMIC）

MPU

High‑performance, multifunction processor capable of high processing speeds for real‑time operation, enabling interface and control of multiple motors and subsystems through communications such as EtherCAT while supporting functional safety.
RZ 32 位和 64 位 MPU
RZ 32 位和 64 位 MPU

Motor Drive - HVPAK

Integrated IC with built‑in protections (such as overcurrent and thermal shutdown) to safely and efficiently drive multiple motors and loads in a compact design (2mm × 3mm QFN package), ideal for compact integration within a robotic hand.
HVPAK
HVPAK
应用说明

Impedance Measurement

Impedance measurement IC derives capacitance and conductance from measured impedance with high linearity, up to ±1.5% FS accuracy and 16 measurement modes, enabling wide‑frequency sensing for robotic hand sensors.
汽车电容式传感器
汽车电容式传感器

Signal Sense Conditioner

High‑accuracy sensor signal amplification, even in harsh operating environments, ensures precise and reliable sensor feedback to the robotic hand system.
传感器信号调节器（SSC/AFE）
传感器信号调节器（SSC/AFE）

Humanoid Cerebellum: AI Processing

System connectivity and interfacing capabilities enable integration with external platforms performing vision AI, sensor integration and processing, and other advanced functions to drive and enhance the robotic hand control system.
View Diagram

模块化机器人手关节控制与驱动系统

WS077-3: WEBLine Arrow.172Line Arrow.365Line ArrowLine Arrow.364Line Arrow.242Line Arrow.244Line Arrow.246Sheet.3BLDC Motor.156Square.40Inductor.10Sheet.7Sheet.8Sheet.9Inductor.14Sheet.11Sheet.12Sheet.13Inductor.18Sheet.15Sheet.16Sheet.17Dynamic connectorDynamic connector.27Dynamic connector.25SquareSheet.22Square.41Sheet.24Sheet.25Sheet.26Motor.179Sheet.28MMMUUUVVVWWWUUUVVVWWWInput arrow12VIN/24VIN12VIN/24VIN12VIN/24VINConnector Arrow5V5V5VHall SensorHall SensorHall SensorConnector Arrow.159Connected signals arrow3.3V3.3V3.3VConnected signals arrow.162Connector Arrow.163Incremental EncoderIncremental EncoderIncremental EncoderVertical Wire Bundle.168333Sheet.170Current SamplingCurrent SamplingCurrent SamplingVertical Wire Bundle.173333Sheet.175PWMPWMPWMVertical Wire Bundle222Sheet.181Incremental EncoderIncremental EncoderIncremental EncoderLine Arrow.208Line Arrow.209Line Arrow.210Sheet.212BLDC Motor.156Square.40Inductor.10Sheet.216Sheet.217Sheet.218Inductor.14Sheet.220Sheet.221Sheet.222Inductor.18Sheet.224Sheet.225Sheet.226Dynamic connectorDynamic connector.27Dynamic connector.25SquareSheet.231Square.41Sheet.233Sheet.234Sheet.235Motor.179Sheet.237MMMUUUVVVWWWUUUVVVWWWHall SensorHall SensorHall SensorIncremental EncoderIncremental EncoderIncremental EncoderCurrent SamplingCurrent SamplingCurrent SamplingVertical Wire Bundle.360333Sheet.362PWMPWMPWMVertical Wire Bundle.366333Sheet.368Incremental EncoderIncremental EncoderIncremental EncoderConnector Arrow.370WS077-3WS077-3WS077-3Robotic HandParallelogramParallelogram.14Parallelogram.15Parallelogram.16Trapezoid.18TrapezoidTrapezoid.20Trapezoid.21Trapezoid.22Trapezoid.23Trapezoid.24RectangleRectangle.26Semi CircleSheet.424Semi Circle.29Sheet.426Semi Circle.31Sheet.428Semi Circle.33Sheet.430Semi Circle.35Sheet.432Connector dotted lineConnector dotted line.435Buck RegulatorBuck RegulatorBuck RegulatorLDOLDOLDOSheet.436Motor ControllerMotor ControllerMotor ControllerGPIO x3GPIO x3GPIO x3GPTGPTGPTADCADCADCGPTGPTGPTGPIO x3GPIO x3GPIO x3GPTGPTGPTADCADCADCGPTGPTGPTSheet.437Motor Driver – HVPAKMotor Driver – HVPAKMotor Driver – HVPAKGate DriverGate DriverGate DriverCurrent SensorCurrent SensorCurrent SensorFault HandlingFault HandlingFault HandlingSheet.120N-Channel Depletion MOSFET.86Sheet.87Sheet.88Sheet.89Sheet.90Sheet.91Sheet.92Sheet.93Sheet.94Sheet.95Sheet.96Sheet.97Sheet.98Connect.50Sheet.100Sheet.101Sheet.102N-Channel Depletion MOSFET.103Sheet.104Sheet.105Sheet.106Sheet.107Sheet.108Sheet.109Sheet.110Sheet.111Sheet.112Sheet.113Sheet.114Sheet.115Connect.50Sheet.117Sheet.118Sheet.119Sheet.121N-Channel Depletion MOSFETSheet.53Sheet.54Sheet.55Sheet.56Sheet.57Sheet.58Sheet.59Sheet.60Sheet.61Sheet.62Sheet.63Sheet.64Connect.50Sheet.66Sheet.67Sheet.68N-Channel Depletion MOSFET.69Sheet.70Sheet.71Sheet.72Sheet.73Sheet.74Sheet.75Sheet.76Sheet.77Sheet.78Sheet.79Sheet.80Sheet.81Connect.50Sheet.83Sheet.84Sheet.85Sheet.122N-Channel Depletion MOSFET.86Sheet.124Sheet.125Sheet.126Sheet.127Sheet.128Sheet.129Sheet.130Sheet.131Sheet.132Sheet.133Sheet.134Sheet.135Connect.50Sheet.137Sheet.138Sheet.139N-Channel Depletion MOSFET.103Sheet.141Sheet.142Sheet.143Sheet.144Sheet.145Sheet.146Sheet.147Sheet.148Sheet.149Sheet.150Sheet.151Sheet.152Connect.50Sheet.154Sheet.155Sheet.156Sheet.438Motor Driver – HVPAKMotor Driver – HVPAKMotor Driver – HVPAKGate DriverGate DriverGate DriverCurrent SensorCurrent SensorCurrent SensorFault HandlingFault HandlingFault HandlingSheet.248N-Channel Depletion MOSFET.86Sheet.250Sheet.251Sheet.252Sheet.253Sheet.254Sheet.255Sheet.256Sheet.257Sheet.258Sheet.259Sheet.260Sheet.261Connect.50Sheet.263Sheet.264Sheet.265N-Channel Depletion MOSFET.103Sheet.267Sheet.268Sheet.269Sheet.270Sheet.271Sheet.272Sheet.273Sheet.274Sheet.275Sheet.276Sheet.277Sheet.278Connect.50Sheet.280Sheet.281Sheet.282Sheet.283N-Channel Depletion MOSFETSheet.285Sheet.286Sheet.287Sheet.288Sheet.289Sheet.290Sheet.291Sheet.292Sheet.293Sheet.294Sheet.295Sheet.296Connect.50Sheet.298Sheet.299Sheet.300N-Channel Depletion MOSFET.69Sheet.302Sheet.303Sheet.304Sheet.305Sheet.306Sheet.307Sheet.308Sheet.309Sheet.310Sheet.311Sheet.312Sheet.313Connect.50Sheet.315Sheet.316Sheet.317Sheet.318N-Channel Depletion MOSFET.86Sheet.320Sheet.321Sheet.322Sheet.323Sheet.324Sheet.325Sheet.326Sheet.327Sheet.328Sheet.329Sheet.330Sheet.331Connect.50Sheet.333Sheet.334Sheet.335N-Channel Depletion MOSFET.103Sheet.337Sheet.338Sheet.339Sheet.340Sheet.341Sheet.342Sheet.343Sheet.344Sheet.345Sheet.346Sheet.347Sheet.348Connect.50Sheet.350Sheet.351Sheet.352

Buck Regulator

降压稳压器（集成 FET）

Motor Controller

Motor controller with a dedicated hardware accelerator to enable high‑speed, high‑response motor algorithms and improve parallel processing performance.
RA Arm Cortex-M MCU
RA Arm Cortex-M MCU
应用说明

Motor Driver - HVPAK

Integrated IC with built‑in protections (such as overcurrent and thermal shutdown) to safely and efficiently drive multiple motors and loads in a compact design (2mm × 3mm QFN package), ideal for compact integration within a robotic hand.
HVPAK
HVPAK
应用说明

LDO

线性稳压器（LDO）

文档

视频和培训

See how Renesas is advancing dexterous robotic hand technology with sensor fusion, Vision AI, tactile sensing, and precision force control. This demo shows how the solution identifies different objects, calibrates grip force across individual fingers, and adapts handling for everything from solid produce to delicate items like paper cups and eggs. Powered by Renesas RZ/V Vision AI processing, impedance sensing, and sensor signal conditioning, the system combines perception, touch, and AI/ML to enable safer, more responsive human-robot interactions. The video also highlights how Renesas 365 streamlines development with cloud-based solution management, remote board deployment, and live performance metrics from cloud to edge.

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