Difference between revisions of "Allegro Hand v4.0"

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*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 5kg
 
*Capable of holding up to 5kg
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*16 independent current-controlled joints (4 fingers x 4 DOF ea.)
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*16 (4 fingers x 4 DOF ea.) independent joints
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*Support for real-time control and online simulation
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*Each joint gets current command
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*Support for real-time control
 
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[[Image:AH_4pics.jpg|border|450px]]
 
[[Image:AH_4pics.jpg|border|450px]]

Revision as of 16:29, 29 December 2021

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


AH 4pics.jpg

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
 12~24V, 120W


HandDimensions 3.0.jpg

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

AllegroLogo.jpg

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

  1. Allegro Hand (Left or Right)
  2. Power Supply
  3. Allegro Hand stand
  4. CAN/Power cable (terminated on hand-end only)
  5. Protective Plastic Carrying Case
  6. Spare parts and tools


InTheBox.jpgBox contents.png




Allegro Hand v4.0

AllegroManualIcon.jpg 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

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
email robotics.biz@wonik.com




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