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RH4D

Advanced Manipulator

 
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Advanced Technology

from our Human-inspired Robot hands

The RH4D incorporates the same advanced technology of our Human-inspired Robot hand models - the RH8D, RH7D and RH5D.

They share the same control systems and key features, such as, the magnetic Finger protection system, Dyneema (Kevlar fibre) reinforced tendonds, and 3-segment fingers, controlled by smart actuators.

The Manipulators differentiate themselves from the Human-inspired hands, in that they’re optimized for power grasping and are available in a compact and smaller form factor.

They are ideal for exploring many of the advanced topics in manipulation in a streamlined package.

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Feature-rich

The RH4D is the Manipulator that most closely resembles our Human Inspired hands in terms of Payload, independent actuated degrees of Freedom and features:

11 Degrees of Freedom, 4 actuators:

  • Wrist Rotation

  • Wrist Flexion

  • Index Flexion

  • Combined flexion of Index and Middle finger flexion with tendon tension equalization
    (fingers will independently conform to the object shape)

All actuators are contained inside the unit.

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Sensing

The Manipulator line uses the advanced EROS control board and smart actuators, providing real-time, high-frequency - up to 120Hz - feedback of (data available from all actuated joints):

  • position

  • speed

  • temperature

  • PWM output (with direction)

  • High resolution current measurement.

A Palm distance sensor detects the proximity of presence of objects.

By combining the available data users can infer additional information such as the estimation of force.

Capacitive pads may be optionally installed at the back of the hand for richer H.R.I. experiences.

Control

  • Open source ROS package

  • Python (PyPot)

  • Low level Serial Protocol (UART)

Logic Interfaces

  • UART over RS485
    (or Full or Half duplex TTL - compatible with Robotis systems)

  • USB interface: for Configuration and Maintenance

  • Optional Bluetooth: online maintenance and diagnostics.

Performance & Payload

The built in actuators are capable of delivering up to 4.5kgf.cm of torque.

  • Payload (Vertical pull): 2.50g

  • Payload (3D space): 500g

  • Weight: 250g
    (all actuators are contained inside the unit)

Technical Data

  • Supply Voltage: 9V to 24V

  • Embedded processor: 32bit Arm Cortex M4
    Dedicated co-processor for each smart actuator

ISO 9409-1-50 mounting adapter available (fits most robot arms)
Custom adapters can also be produced on customer’s request.