Difference between revisions of "Allegro Hand v4.0"
(→Allegro Hand v4.0) |
(→Getting Started for v4.0) |
||
(5 intermediate revisions by one user not shown) | |||
Line 3: | Line 3: | ||
<!--[[Image:AH_cracker.jpg|700px|caption]]--> | <!--[[Image:AH_cracker.jpg|700px|caption]]--> | ||
<center> | <center> | ||
− | [[Image:AH_Biotac_Banner.jpg|500px|caption]] | + | <!-- [[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;" | ||
|- | |- | ||
Line 16: | Line 16: | ||
*Low-cost dexterous manipulation with applications in research and industry | *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 | *Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries | ||
− | *Capable of holding up to | + | *Capable of holding up to 5kg |
− | *16 | + | *16 (4 fingers x 4 DOF ea.) independent joints |
− | *Support for real-time control | + | *Each joint gets current command |
+ | *Support for real-time control | ||
<br> | <br> | ||
[[Image:AH_4pics.jpg|border|450px]] | [[Image:AH_4pics.jpg|border|450px]] | ||
Line 135: | Line 136: | ||
==Allegro Hand v4.0 programs== | ==Allegro Hand v4.0 programs== | ||
− | === Software Git | + | === Software Git Repository=== |
'''windows :''' [https://github.com/simlabrobotics/allegro_hand_windows_v4.git windows-project] <br> | '''windows :''' [https://github.com/simlabrobotics/allegro_hand_windows_v4.git windows-project] <br> | ||
'''linux :''' [https://github.com/simlabrobotics/allegro_hand_linux_v4.git linux-project] <br> | '''linux :''' [https://github.com/simlabrobotics/allegro_hand_linux_v4.git linux-project] <br> | ||
Line 146: | Line 147: | ||
==Getting Started for v4.0== | ==Getting Started for v4.0== | ||
+ | [[File:AllegroHand - Troubleshooting & FAQ V1.01.pdf]] | ||
*[[Programming Guides v4.0]] | *[[Programming Guides v4.0]] | ||
*[[Mounting Information v4.0]] | *[[Mounting Information v4.0]] | ||
*[[CAN Protocol v4.0]] | *[[CAN Protocol v4.0]] | ||
*[[Wiring for Allegro Hand v4.0]] | *[[Wiring for Allegro Hand v4.0]] | ||
+ | *[[LED signal of Allegro Hand v4.0]] | ||
==Purchasing== | ==Purchasing== |
Revision as of 10:10, 26 December 2022
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 5kg
- 16 (4 fingers x 4 DOF ea.) independent joints
- Each joint gets current command
- Support for real-time control
Tech Specs
Number of Fingers |
Four (4) fingers, including thumb | ||||||||
Degrees of Freedom |
4 fingers x 4 = 16 (Active) | ||||||||
Actuation |
| ||||||||
Weight |
| ||||||||
Joint Resolution |
| ||||||||
Communication |
| ||||||||
Payload |
5 (kg) | ||||||||
Power Requirement |
12~24V, 120W |
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) Ubuntu 16.04 (ROS) |
Additional S/W |
MS Visual Studio® |
CAN Interface |
NI or PEAK CAN Note: Any CAN interface can be user-configured for use with the Allegro Hand. |
Product
The Allegro Hand comes with a simple software for developing and testing control algorithms for a variety of commercial robots. There are Linux version and Windows version.
In the Box
- Allegro Hand (Left or Right)
- Power Supply
- Allegro Hand stand
- CAN/Power cable (terminated on hand-end only)
- Protective Plastic Carrying Case
- Spare parts and tools
Allegro Hand v4.0
File:V4 AllegroHandUsersManual 1.1.pdf
Allegro Hand v4.0 programs
Software Git Repository
windows : windows-project
linux : linux-project
ROS : ros-kinetic-AllegroHand
Allegro Hand CAD File
Please, email us if you need Allegro Hand CAD STP file.
robotics.biz@wonik.com
Getting Started for v4.0
File:AllegroHand - Troubleshooting & FAQ V1.01.pdf
- Programming Guides v4.0
- Mounting Information v4.0
- CAN Protocol v4.0
- Wiring for Allegro Hand v4.0
- LED signal of Allegro Hand v4.0
Purchasing
For a quote or any other inquiry, please contact us!
WONIK ROBOTICS
address | 4F, Wonik Bldg., Pangyo-ro 255-20, Bundang-gu, Seongnam-si, Gyunggi-do, 13486, KOREA |
phone | +82-31-8038-9180 |
fax | +82-31-8038-9190 |
robotics.biz@wonik.com |
Whos here now: Members 0 Guests 0 Bots & Crawlers 3 |