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Allegro Hand

Allegro Hand :

ROBOT HAND for R&D

- Lightweight and portable anthropomorphic design

 

- Low-cost dexterous manipulation with applications

   in research and industry

 

- Multiple ready-to-use grasping algorithms

   capable of handling a variety of object geometries

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With four fingers and sixteen independent torque-controlled joints, it's the perfect platform for grasp and manipulation research.

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Allegro Hand Features

  • Lightweight and portable anthropomorphic design
     

  • ​Low-cost dexterous manipulation with applications in research and industry

  • Multiple ready-to-use grasping algorithms capable of handling a variety of object geometries

  • Capable of holding up to 5 kg

  • 16 independent torque-controlled joints (4 fingers x 4)

  • Allegro Hand Console Application for simulation-based algorithm prototyping and hardware testing

  • Support for real-time control and online simulation

Wonik Robotics' Allegro Hand is based on licensed technology developed by the Humanoid Robot Hand research group at the Korea Institute of Industrial Technology (KITECH).

Images & Videos

Grasp-move

Cylinder grasping

Catching

Free grasping

Wiki

Please visit out Allegro Hand Users' Wiki to share successes and solutions.

Here you will find tutorials, documentation and a user forum

to get you started and quickly developing your own software for the Allegro Hand.

Specifications

Number of Fingers

Four (4) fingers including a thumb

Degrees of Freedom

4 fingers x 4 = 16

Actuation

Type

​Gear Ratio

Max.Torque

DC Motor

1:369

0.70 (Nm)

Mass

Finger

Thumb

Total

0.15 (kg)

0.21 (kg)

1.09 (kg)

Joint Encoder

Type

Resolution (nominal)

Absolute

0.002 (deg)

Communication

Type

Frequency

CAN

333 (Hz)

Payload

5 (kg)

Power Requirement

7.4VDC (7.0V - 8.1V), 5A Minimum

Purchasing Options

[Included]

 · Allegro Hand (left or right)

 · Allegro Hand Console Application(linux/Windows) Download Instructions

 · Allegro Hand Console Application(linux/Windows) single-user license

 · Allegro Hand stand

 · CAN/Power cable* (terminated at hand-end only)

 · 2mm hex wrench

 · Spare screws and wire terminals

 · Hard plastic case

 · Power supply

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

System Requiremnets

CPU

Intel® Core2 Duo or higher

RAM

2GB or more

HDD

2GB or more

Graphics

OpenGL 1.1 HW Acceleration enabled

64Mb of videos RAM or higher

OS

MS Windows® XP, 7 & 8

Linux (ROS)

CAN Interface

Softing / ESD / NI / Kvaser / Peak

Note: Any CAN interface can be user-configured for use with the Allegro Hand.

Other S/W

Windows: Visual Studio® (optional)

                 RoboticsLab (optional)

Linux : ROS

Download

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  • Allegro Hand Wiki

Designed by Wixweb

Tel  +82-31-8038-9180

Fax  +82-31-8038-9190

Email  robotics.biz@wonik.com

Wonik Robotics, Wonik Bldg. 4F, Pangyo-ro 255-20,

Bundang-gu, Seongnam-si, Gyunggi-do, 13486 Korea