Difference between revisions of "Allegro Hand Overview"

Revision as of 12:12, 3 December 2012 (view source) Alexalspach (Talk | contribs) (→‎Product) ← Older edit		Revision as of 12:12, 3 December 2012 (view source) Alexalspach (Talk | contribs) (→‎In the Box) Newer edit →
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Revision as of 12:12, 3 December 2012

Features

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.

• 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 DOF ea.)
• 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

Number of Fingers	Three (3) fingers and a thumb (1) = 4
Degrees of Freedom	4 fingers x 4 = 16 (Active)
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 1.20 (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
Power Req.	7.4VDC (7.0V - 8.1V), 5A Minimum

System Requirements

CPU	Intel® Core™2 Duo or higher
RAM	at least 2GB
HDD	at least 2GB
Graphics	OpenGL 3.0 H/W Acceleration enabled with at least 64Mb of video RAM
OS	MS Windows® XP, MS Windows® Vista, MS Windows® 7
Additional S/W	MS Visual Studio®
CAN Interface	NI, Softing, Kvaser or ESD CAN Note: Any CAN interface can be user-configured for use with the Allegro Hand.

Product

The Allegro Hand comes with its own version of SimLab's Allegro Application Studio (AAS), a robotics software for developing and testing control algorithms for a variety of commercial robots. AAS for the Allegro Hand includes a customized kinematics/dynamics simulator based on RoboticsLab. Algorithms developed can be applied to the virtual hand as well as directly to the real hand without any changes to the code.

For more information, please visit our Allegro Application Studio website.

In the Box

1. Allegro Hand (Left or Right)
2. Allegro Hand Application Studio (AHAS) Install CD
3. AHAS single-user license
4. Spare screws
5. CAN/Power cable (terminated on hand-end)

Optional: (see below for details)

1. CAN interface
2. Power Supply
3. Protective case
4. RoboticsLab Software

Purchasing Options

CAN Interface

A pre-reconfigured CAN interface can be purchased along with the Allegro Hand. The CAN interfaces available through SimLab include:

• National Instruments' (NI) USB-8473s High-Speed CAN
  
• Softing's CAN-AC2-PCI
  
• Kvaser's PCIcan 4xHS
  
• ESD's CAN-PCI/266
  

Power Supply

A power supply designed specifically for the Allegro Hand.

Protective Case

A hard plastic carrying case can also be purchased for storing and transporting your Allegro hand.

RoboticsLab

Paired with our RoboticsLab development environment, the user can take full advantage of robust dynamics and system control engines as well as out feature-rich controls SDK. RoboticsLab also enables users to easily model custom robots and test environments in 3D and add built-in and custom sensors, actuators and other devices. RoboticsLab provides the flexibility necessary to prototype and test control algorithms for any system.

For more information, please visit our RoboticsLab website.

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