Document

File:Allegro Hand Layout.pdf
File:Allegro Hand Wire and Conector.pdf
File:NI CAN Wiring with NI Cable.pdf
File:Allegro Hand Joint Information.pdf
File:How to check and replace the wire (JT41).pdf
File:How to check the first module of thumb.pdf
File:How to check the wire and connection of JT42.pdf
File:How to replace FFC.pdf
File:How to take the first module off.pdf




always check current limit if connection is lost once motors are commanded. should be at least 5A cannot connect, license man grasping algo fingers dont point towards the object, check left/right

oscillating, faster computer, plug it in.. maybe too many program running?



Problem 1: I checked out the data. A couple of questions:

You said this happens in a specific joint configuration.. Is the problem repeatable, i.e. can you put the hand in that configuration and it happens almost every time? When you push on the pinky, is that when the index finger goes crazy?


If so, try playing with the wire between the back of the hand and the first finger pitch joint on the pinky and see if you can make it happen by pushing on and gently bending the wire.

If these symptoms are true, I believe the problem is a loose or damaged ribbon cable. You can attempt to disconnect the cable and reseat it. You can also disconnect the wire from both ends and try flipping it around and reattaching. If neither of these

methods solve the problem, then we will send you a replacement cable..

Note: The wires should be disconnected from the motor boards very carefully. Avoid bending or crimping the wires so as not to break the traces.

  1. Remove the motor board cover on the first finger link, keeping the 4 screws in a safe place.
  2. Use a small tool to pull out the small black clamp (outward towards the cable) on the connector where the ribbon cable meets the board. This piece only pulls out about a millimeter. It is not to be removed.
  3. Remove the cable from the board.

-- When reattaching the cable, press it into the connector as far as possible. Do not bend the cable. Try to straighten it out as much as possible to make it easier to insert.

-- If the instructions are at all unclear, please let me know, and I will send you a few pictures of the process.




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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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