All dimensions are displayed in millimeters (mm) and degrees.

Please click on any image for a larger version.

Contents

Mount Block Removal


The mounting block is connected to the Allegro Hand using twelve (12) M2 socket-head cap screws (6 on each side).

Handmount1.jpg



Remove six (6) screws on either side of the hand.
Do NOT remove the two (2) screws labeled A or the corresponding screws on the other side of the hand.

Note: Secure the hand while unscrewing the mounting block to avoid dropping the hand once disconnected.

Handmount2.jpg



Once the twelve (12) screws have been removed, the mounting block can be removed from the bottom of the hand.

Handmount3.jpg




Mounting


The block can be mounted to a surface using two (2) M3 socket-head cap screws.

Note: The hand should be mounted to a raised area so as to avoid thumb-mount interference during hand movement.

Handmount4.jpg




Reassembly


Place the hand onto the mounting block and replace the twelve (12) M2 socket-head cap screws (6 on each side).

Handmount5.jpg




Mount Block Dimensions


The relevant dimensions of the mounting block are presented in millimeters (mm).

Version 3.x

Handmount6 3.jpg


Version 2.x

Handmount6 2.jpg


Version 1.x

Handmount6.jpg




Download

File:AllegroHandMounting.pdf




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Copyright & Trademark Notice
Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2016 WONIK ROBOTICS. All rights reserved. RoboticsLab and Allegro are trademarks of WONIK ROBOTICS. All other trademarks or registered trademarks mentioned are the properties of their respective owners.

SimLab's Allegro Hand is based on licensed technology developed by the Humanoid Robot Hand research group at the Korea Institute of Industrial Technology (KITECH).

Any references to the BHand Library or the Allegro Hand Motion and/or Grasping Library refer to a library of humanoid robotic hand grasping algorithms and motions developed and published by KITECH researchers.
J.-H. Bae, S.-W. Park, D. Kim, M.-H. Baeg, and S.-R. Oh, "A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots," Proc. of the 2012 IEEE Int. Conf. on Robotics and Automation (ICRA2012), pp. 3798-3804

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