The RH4D features a tendon based, under-actuated design with advanced grasping capabilities in an extremely compact form factor: just 163cm long. A compact option for robots requiring advanced gasping capability and robots in competitions.
The under actuated design offers a total of 11 degrees of freedom, with 4 internal smart actuators producing 57N.cm or 5.5kg tendon tension each, for (1) wrist rotation, (2) wrist flexion, (3) thumb flexion and (4) index fingers flexion.
An array of extra features such as the high frequency current measurement and built-in optical distance sensor for detection of presence of proximity of objects, complete this advanced, compact model.
Smart actuators provide feedback of position, speed, temperature and real time current measurement on all actuated joints allowing force estimation.
Total degrees of freedom: 11
Actuated degrees of freedom: 4
Robustness and Reliability
Field tested on the most demanding Robot applications, the RH4D design has proven its reliability.
Dyneema (Kevlar) reinforced tendons, safety finger detachment system and hybrid metal-polymer design.
Palm optical distance sensor
Position, speed, temperature, .. feedback for all actuated joints.
High frequency current sensing on all actuated joints enables estimation of force.
RS485, TTL Serial (one wire Half Duplex or Full Duplex), USB and optionally Bluetooth.
Dynamixel 1.0 and 2.0
Seed Robotics STP protocol
Compatible with the Darwin OP/2 framework
ROS, PyPot are supported through any open source third party library, compatible with the Dynamixel protocol.
Main Processor: 32 bit Cortex M4 @ 96Mhz
Smart actuator processor: Atmega 88PA
Input voltage: 9V-24V DC
Actuator type: Smart actuator
Actuator torque: 57N.cm
Tendon tension: 5.5kg
3D CAD models available for download on our Knowledge Base