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Revision as of 18:39, 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

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


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.




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