Kinematics |
Total fingers: 3
Fingers which spread: 2
Joints per finger: 2
Motors per finger: 1
Axes of palm spread motion: 2
Motors for palm spread motion: 1
Total hand axes: 8
Total hand motors: 4 |
Range of Motion |
Finger base joint: 140°
Fingertip: 45°
Finger spread: 180° |
Finger Speed |
Finger fully open to fully closed:1.0 sec
Full 180° finger spread: 0.5 sec |
Position Sensing |
12-bit absolute sensing at each motor with array of Hall sensors |
Weight |
Hand: 1.2 kg |
Payload |
6.0 kg, 2.0 kg per finger |
Finger Forces (at tip) |
Active: 15 N
Passive: 20 N |
Motor Type |
Rare-Earth brushless-DC servo motors |
Mechanisms |
Worm drives integrated with patented cable drive and breakaway clutch |
Power Supply |
Dimensions: 205x90x54mm
Mass: 0.7 kg |
DC Operation |
20-80 VDC
7/15/250 W idle/typ/max
|
AC Operation |
single-phase, 85-260 VAC, 50/60 Hz
10/20/300 W idle/typ/max |
Single Cable to Hand |
5mx5mm flexible cable |
Dimensions |
See Diagram |
