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

Please click on any image for a larger version.


Mount Block Removal

The mounting block is connected to the Allegro Hand using six (6) M3 flat-head screws (3 on each side).

Handmount1 v4.png

Remove three (3) 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 v4.png

Once the six (6) screws have been removed, the mounting block can be removed from the bottom of the hand.

Handmount3 v4.png


The block can be mounted to a surface using six (6) 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 v4.png


Place the hand onto the mounting block and replace the six (6) M3 flat-head screws (3 on each side).

Handmount5 v4.png

Mount Block Dimensions

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

Version 4.x

Handmount6 v4.png


File:V4 AllegroHandUsersManual 1.1.pdf

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Copyright & Trademark Notice
Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2020 Wonik Robotics Co., Ltd. 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.

Wonik Robotics'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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