Difference between revisions of "Allegro Hand Overview"

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==Tech Specs==
 
==Tech Specs==
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==System Requirements==
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{|style=" border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding:  0px; text-align: left;"
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|-
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| style="padding: 3px 5px 3px 5px; width: 150px; background: #F0F0F0" | Number of Fingers
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| style="padding: 3px 5px 3px 5px" | Three (3) fingers and a thumb
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|-
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| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | Degrees of Freedom
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| style="padding: 3px 5px 3px 5px" | 4 fingers x 4 = 16
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|-
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| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | Actuation
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|
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{|
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|-
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| style="padding: 3px 5px 3px 5px; width: 150px" | Type
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| style="padding: 3px 5px 3px 5px;" | DC Motor
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|-
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| style="padding: 3px 5px 3px 5px;" | Gear Ratio
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| style="padding: 3px 5px 3px 5px;" | 1:369
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|-
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| style="padding: 3px 5px 3px 5px;" | Max. Torque
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| style="padding: 3px 5px 3px 5px;" | 0.70 (Nm)
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|-
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| style="padding: 3px 5px 3px 5px;" | Overdrive Torque
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| style="padding: 3px 5px 3px 5px;" | 0.29 (Nm)
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|-
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|}
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|-
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| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | Weight|
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|
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{|
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|-
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| style="padding: 3px 5px 3px 5px; width: 150px" | Finger
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| style="padding: 3px 5px 3px 5px;" | 0.17 (kg)
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|-
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| style="padding: 3px 5px 3px 5px;" | Thumb
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| style="padding: 3px 5px 3px 5px;" | 0.19 (kg)
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|-
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| style="padding: 3px 5px 3px 5px;" | Total
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| style="padding: 3px 5px 3px 5px;" | 0.90 (kg)
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|-
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|}
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|-
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| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | Joint Resolution
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|
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{|
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|-
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| style="padding: 3px 5px 3px 5px; width: 150px" | Measurement
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| style="padding: 3px 5px 3px 5px;" | Potentiometer
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|-
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| style="padding: 3px 5px 3px 5px;" | Resolution (nominal)
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| style="padding: 3px 5px 3px 5px;" | 0.002 (deg)
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|-
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|}
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|-
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| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | Communication
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|
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{|
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|-
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| style="padding: 3px 5px 3px 5px; width: 150px" | Type
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| style="padding: 3px 5px 3px 5px;" | CAN
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|-
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| style="padding: 3px 5px 3px 5px;" | Frequency
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| style="padding: 3px 5px 3px 5px;" | 333 (Hz)
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|-
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|}
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|-
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| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | Payload
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| style="padding: 3px 5px 3px 5px" | 0.5 (kg) for each finger, 1.5 (kg) total
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|}

Revision as of 18:22, 3 October 2012

caption

Allegro Hand is a low-cost and highly adaptive robotic hand.
With four fingers and sixteen independent current-controlled joints,
it's the perfect platform for grasp and manipulation research.


Features

  • Lightweight and portable anthropomorphic design
  • Low-cost dexterous manipulation with applications in research and industry
  • Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries
  • Capable of holding up to 1.5kg
  • 16 independent current-controlled joints (4 fingers x 4)
  • Allegro Application Studio integration allows for simulation based algorithm prototyping without ever changing your code
  • Support for real-time control and online simulation


Tech Specs

System Requirements

Number of Fingers Three (3) fingers and a thumb
Degrees of Freedom 4 fingers x 4 = 16
Actuation
Type DC Motor
Gear Ratio 1:369
Max. Torque 0.70 (Nm)
Overdrive Torque 0.29 (Nm)
Weight|
Finger 0.17 (kg)
Thumb 0.19 (kg)
Total 0.90 (kg)
Joint Resolution
Measurement Potentiometer
Resolution (nominal) 0.002 (deg)
Communication
Type CAN
Frequency 333 (Hz)
Payload 0.5 (kg) for each finger, 1.5 (kg) total




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