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__NOTOC__
 
__NOTOC__
 
==Features==
 
==Features==
[[Image:AH_cracker.jpg|700px|caption]]
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<!--[[Image:AH_cracker.jpg|700px|caption]]-->
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<center>
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[[Image:AH_Biotac_Banner.jpg|500px|caption]]
 
{|style=" border-collapse: separate; border-spacing: 15; border-width: 0px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-align: center; width: 720px;"
 
{|style=" border-collapse: separate; border-spacing: 15; border-width: 0px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-align: center; width: 720px;"
 
|-
 
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|-
 
|-
 
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</center>
 
<br>
 
<br>
 
*Lightweight and portable anthropomorphic design
 
*Lightweight and portable anthropomorphic design
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|-
 
|-
 
| style="padding: 3px 5px 3px 5px; width: 150px; background: #F0F0F0" | <h5>Number of Fingers</h5>
 
| style="padding: 3px 5px 3px 5px; width: 150px; background: #F0F0F0" | <h5>Number of Fingers</h5>
| style="padding: 3px 5px 3px 5px" | Three (3) fingers and a thumb (1) = 4
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| style="padding: 3px 5px 3px 5px" | Four (4) fingers, including thumb
 
|-
 
|-
 
| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | <h5>Degrees of Freedom</h5>
 
| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | <h5>Degrees of Freedom</h5>
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| style="padding: 3px 5px 3px 5px;" | 0.70 (Nm)
 
| style="padding: 3px 5px 3px 5px;" | 0.70 (Nm)
 
|-
 
|-
| style="padding: 3px 5px 3px 5px;" | Overdrive Torque
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| style="padding: 3px 5px 3px 5px;" | Max. Joint Speed
| style="padding: 3px 5px 3px 5px;" | 0.29 (Nm)
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| style="padding: 3px 5px 3px 5px;" | 0.11 (sec/60dgree)
 
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|-
 
|}
 
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|-
 
|-
 
| style="padding: 3px 5px 3px 5px;" | Total
 
| style="padding: 3px 5px 3px 5px;" | Total
| style="padding: 3px 5px 3px 5px;" | 1.20 (kg)
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| style="padding: 3px 5px 3px 5px;" | 1.08 (kg)
 
|-
 
|-
 
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|-
 
|-
 
| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | <h5>Payload</h5>
 
| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | <h5>Payload</h5>
| style="padding: 3px 5px 3px 5px" | 0.5 (kg) for each finger, 1.5 (kg) total
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| style="padding: 3px 5px 3px 5px" | 5 (kg)
 
|-
 
|-
| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | <h5>Power Req.</h5>
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| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | <h5>Power Requirement</h5>
 
| style="padding: 3px 5px 3px 5px" | 7.4VDC (7.0V - 8.1V), 5A Minimum
 
| style="padding: 3px 5px 3px 5px" | 7.4VDC (7.0V - 8.1V), 5A Minimum
 
|}
 
|}
 
<br>
 
<br>
[[image:HandDimensions.jpg|border|450px]]
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[[image:HandDimensions_3.0.jpg|border|450px]]
 
<br>
 
<br>
  
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|-
 
|-
 
| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | <h5>OS</h5>
 
| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | <h5>OS</h5>
| style="padding: 3px 5px 3px 5px" | MS Windows® XP,<br>MS Windows® Vista,<br>MS Windows® 7
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| style="padding: 3px 5px 3px 5px" | MS Windows® XP,<br>MS Windows® Vista,<br>MS Windows® 7<br>MS Windows® 8<br>Ubuntu 10.04-12.10 (ROS)
 
|-
 
|-
 
| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | <h5>Additional S/W</h5>
 
| style="padding: 3px 5px 3px 5px; background: #F0F0F0" | <h5>Additional S/W</h5>
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==Product==
 
==Product==
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{{AHAS Product}}
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<br><br>
  
[[image:AllegroLogo.jpg]]
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==Purchasing==
  
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.
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For a quote or any other inquiry, please [[Contact Us | contact us]]!
  
For more information, please visit our [http://www.simlab.co.kr/Allegro-Application-Studio.htm Allegro Application Studio website].
 
  
===Purchasing Options===
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{{WonikRobotics Contact}}
====CAN Interface====
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A pre-reconfigured CAN interface can be purchased along with the Allegro Hand. The CAN interfaces available through SimLab include:
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*National Instruments' (NI) USB-8473s High-Speed CAN<br>
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*Softing's CAN-AC2-PCI<br>
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*Kvaser's PCIcan 4xHS<br>
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*ESD's CAN-PCI/266<br>
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====Power Supply====
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A power supply designed specifically for the Allegro Hand.
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====Protective Case====
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A hard plastic carrying case can also be purchased for storing and transporting your Allegro hand.
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[[Image:AH_wBox.jpg|border|450px]]
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====RoboticsLab====
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[[image:roboticsLabLogo.jpg]]
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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.
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+
For more information, please visit our [http://www.simlab.co.kr/RoboticsLab.htm RoboticsLab website].
+

Latest revision as of 12:24, 27 September 2016

[edit] Features

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.


  • 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


AH 4pics.jpg

[edit] Tech Specs

Number of Fingers
Four (4) fingers, including thumb
Degrees of Freedom
4 fingers x 4 = 16 (Active)
Actuation
Type DC Motor
Gear Ratio 1:369
Max. Torque 0.70 (Nm)
Max. Joint Speed 0.11 (sec/60dgree)
Weight
Finger 0.17 (kg)
Thumb 0.19 (kg)
Total 1.08 (kg)
Joint Resolution
Measurement Potentiometer
Resolution (nominal) 0.002 (deg)
Communication
Type CAN
Frequency 333 (Hz)
Payload
5 (kg)
Power Requirement
7.4VDC (7.0V - 8.1V), 5A Minimum


HandDimensions 3.0.jpg

[edit] 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
MS Windows® 8
Ubuntu 10.04-12.10 (ROS)
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.


[edit] Product

AllegroLogo.jpg

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 with and changes to the code.

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

[edit] In the Box

  1. Allegro Hand (Left or Right)
  2. Allegro Hand Application Studio (AHAS) Download Instructions
  3. AHAS single-user license
  4. Allegro Hand stand
  5. CAN/Power cable (terminated on hand-end only)
  6. 2mm hex wrench
  7. Spare screws


Optional: (see below for details)

  1. Power Supply
  2. Protective Plastic Carrying Case
  3. RoboticsLab Software


[edit] Purchasing Options

[edit] CAN Interface

The CAN Interfaces supported by AHAS out-of-the-box include:

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

Note: A CAN Interface is not included with the Allegro Hand. If you need some guidance while choosing one, please feel free to contact us.


[edit] Power Supply

A power supply designed specifically for the Allegro Hand.


[edit] Case

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

AH wBox.jpg


RoboticsLabLogo.jpg

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 dives. RoboticsLab provides the flexibility necessary to prototype and test control algorithms for any system.

SimLab provides the Allegro Hand and RoboticsLab separately. The cost of RoboticsLab is 10,000 USD for academic use (one license). RoboticsLab is a complete robotics research framework that allows the roboticist to model and control robotic system simulations and actual hardware in hard realtime. RoboticsLab provides you with SDKs full of tools for creating advanced but user friendly applications for developing and verifying your system. It also includes a robust and adaptable control SDK to help you focus on your specific application rather than low level controls. Fully integrated, RoboticsLab is the easiest way to get the Allegro Hand up and running with your own controllers and allows the seamless integration of any sensors or robotic arms you may add to the system in the future.

You can read more at http://wonikrobotics.com/RoboticsLab.htm.

and RoboticsLab website.

[edit] Purchasing

For a quote or any other inquiry, please contact us!


WONIK ROBOTICS

address 5F, Wonik Bldg., Pangyo-ro 255-20, Bundang-gu, Seongnam-si, Gyunggi-do, 13486, KOREA
phone +82-31-8038-9180
fax +82-31-8038-9190
email robotics.biz@wonik.com




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