Difference between revisions of "Allegro Hand Overview"

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*Allegro Application Studio integration allows for simulation based algorithm prototyping without ever changing your code
 
*Allegro Application Studio integration allows for simulation based algorithm prototyping without ever changing your code
 
*Support for real-time control and online simulation
 
*Support for real-time control and online simulation
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Revision as of 21:06, 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.


Contents

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


AH 4pics.jpg

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.


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

Protective Case

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

AH wBox.jpg





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