Characteristics :- Fluid and human-like movement thanks to an innovative and patent pending system- Independent fingers- Several gripping modes- Sensors can be integrated in the fingers and in the palm, depending on the needs (temperature, RFID, etc)- Different materials, depending on the needs- Possibility to use the hand as a platform for research- Different controlling systems- Works with 6V- the majority of the parts is laser-cutted in order to enable mass-production and simplify maintenance- Left and right hand consist of the same parts
The hand uses 5 Firgelli PQ12 Miniature Linear Actuators which deliver 40N at 6 mm/s each (max strength 50N, max speed 10 mm/s, back drive force 35N).
These motors existed in several configurations which can all be used in the hand.
PQ12.R actuators are ideally suited to use in robotics and radio
control models. The .R actuators or ?linear servos? are a direct
replacement for regular radio controlled hobby servos. The
desired actuator position is input to the actuator on lead 1 as
a positive 5 Volt pulse width signal. A 2.0 ms pulse commands
the controller to fully retract the actuator, and a 1.0 ms pulse
signals it to fully extend. If the motion of the actuator, or of
other servos in your system, seems erratic, place a 1.4?¶
resistor in series with the actuator fs red V+ lead wire. The
PQ12.R Linear Servos are designed to work with typical RC
receivers and battery packs. Consequently they also are
compatible with Arduino control boards, VEX Microcontrollers
and many other similar boards designed for robotics.
The mechanical system which allows imitating the human movement with only one actuator per finger is patent pending. Each finger stays independent.
In addition, the thumb can change is position to adapt to several grip strategies.
The hand is composed with the following under-assemblies :
? Finger x3
? Thumb x1
? Thumb mobility system x1
? Palm x1