WONIK ROBOTICS Allegro Hand Manual de usuario
wiki.wonikrobotics.com/AllegroHandWiki
Allegro Hand User's Manual v4.0
Copyright ©WONIK ROBOTICS
Copyright & Trademark Notice
Allegro, the Allegro logo and all related files and documentation are Copyright by WONIK ROBOTICS.
All rights reserved.
Allegro, Allegro Hand and RoboticsLab are trademarks of WONIK ROBOTICS. All other trademarks
or registered trademarks mentioned are the property of their respective owners.
Copyright ©WONIK ROBOTICS. All rights reserved.
i
Contents
Copyright & Trademark Notice.................................................................................................................i
Quick Start Guide....................................................................................................................................1
In The Box........................................................................................................................................1
Power Supply...................................................................................................................................1
Wiki for Users...................................................................................................................................1
Allegro Hand Overview ...........................................................................................................................2
Features...........................................................................................................................................2
Technical Specifications..........................................................................................................................3
System Requirements.............................................................................................................................4
Related Products.....................................................................................................................................4
Joint Dimensions.....................................................................................................................................5
Joint Directions........................................................................................................................................6
Right Hand.......................................................................................................................................6
Left Hand .........................................................................................................................................6
Mounting the Allegro Hand......................................................................................................................7
Mounting Block Removal .................................................................................................................7
Mounting ..........................................................................................................................................9
Reassembly .....................................................................................................................................9
Mount Block Dimensions ...............................................................................................................10
Allegro Hand Wiring ..............................................................................................................................11
Wiring......................................................................................................................................11
Power......................................................................................................................................11
CAN Driver Installation..........................................................................................................................11
NI USB-8473s CAN ................................................................................................................12
PEAK PCAN-USB (Drivers available for Windows and Linux) ............................................12
CAN Protocol ........................................................................................................................................12
Baud-Rate......................................................................................................................................12
Non-Periodic Communication........................................................................................................12
Copyright ©WONIK ROBOTICS. All rights reserved.
ii
Periodic Communication................................................................................................................12
CAN Frames .........................................................................................................................................13
Arbitration Identifier........................................................................................................................13
Message ID.............................................................................................................................13
Device ID ................................................................................................................................13
Data Structure................................................................................................................................14
Servo ON................................................................................................................................14
Servo OFF ..............................................................................................................................14
Set Torque Finger #................................................................................................................14
Set Position Finger # ..............................................................................................................14
Set Periodic Read...................................................................................................................14
Config .....................................................................................................................................14
Information..............................................................................................................................15
Serial.......................................................................................................................................15
Position Finger #.....................................................................................................................16
IMU .........................................................................................................................................16
Temperature Finger #.............................................................................................................16
Status......................................................................................................................................16
Using Allegro Hand Sample Program...................................................................................................16
Home ......................................................................................................................................16
Ready .....................................................................................................................................17
Grasp 3...................................................................................................................................17
Grasp 4...................................................................................................................................17
Pinching (I)..............................................................................................................................17
Pinching (M)............................................................................................................................17
Envelop...................................................................................................................................17
Technical Support .................................................................................................................................18
Copyright ©WONIK ROBOTICS. All rights reserved.
iii
Quick Start Guide
In The Box
Included are the software and hardware necessary to get you started.
1. Allegro Hand
2. Allegro Hand Hard Case
3. Power Supply and AC Cable
4. Desktop Stand
5. M2x*mm socket-head cap screws and hex key set (extra)
6. Wires/Connectors
6.1 Cable:Power
6.2 Cable:COMM
6.3 SPHD-001T-P0.5 crimp
6.4 PHDR-20VS Connector Housing
6.5 DB9 Terminal Connector
6.6 FFC Cable set(extra)
qty 1
qty 1
qty 40
qty 2
qty 1
Power Supply
Power provided to the Allegro Hand must meet the following specifications:
A power supply meeting these requirements can be purchased along with the Allegro Hand
Voltage:
12V - 24V
120W
Amperage:
Wiki for Users
All information provided in this user's manual along with a forum and tutorials is available at
wiki.wonikrobotics.com/AllegroHandWiki
Copyright ©WONIK ROBOTICS. All rights reserved.
1
Allegro Hand Overview
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.
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 DOF ea.)
Support for real-time control and online simulation
Copyright ©WONIK ROBOTICS. All rights reserved.
2
Technical Specifications
Number of Fingers
Degrees of Freedom
Three (3) fingers and a thumb (1) = 4
4 fingers x 4 = 16 (Active)
Type
DC Motor
1:369
Gear Ratio
Max. Torque
Overdrive Torque
Actuation
0.70 (Nm)
0.90 (kg)
Finger
Thumb
Total
0.17 (kg)
0.19 (kg)
1.20 (kg)
Weight
Measurement
Potentiometer
0.002 (deg)
Joint Resolution
Resolution (nominal)
Type
CAN
Communication
Frequency
333 (Hz)
Power Requirement
12~24V, 120W
Copyright ©WONIK ROBOTICS. All rights reserved.
3
System Requirements
Intel® Core™2 Duo or higher
CPU
RAM
at least 2GB
at least 2GB
HDD
OpenGL 3.0 H/W Acceleration enabled
with at least 64Mb of video RAM
Graphics
MS Windows® XP,
MS Windows® Vista,0.19
MS Windows® 7
OS
Additional S/W
Communication
MS Visual Studio®
NI or PEAK CAN
Note: Any CAN interface can be user-
configured for use with the Allegro Hand.
Related Products
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.
For more information, please visit our RoboticsLab website:
www.wonikrobotics.com/RoboticsLab.htm
Copyright ©WONIK ROBOTICS. All rights reserved.
4
Joint Dimensions
All dimensions are displayed in millimeters (mm) and degrees.
Copyright ©WONIK ROBOTICS. All rights reserved.
5
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