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ROBOTERA

ROBOTERA XHAND 1

$16,800.00
Version
Model

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Product Information




Technical Specifications

Parameter Value
  Weight   1100 g
  Dimensions (L x W x T)
  191 mm x 94 mm x 47 mm（The size of an adult’s hand）
  Active DoF (Total)
  12
  Passive DOF (Total)
  0
  DoF Allocation
  Thumb x 3
  Index Finger x 3 
  Middle Finger x 2
  Ring Finger x 2
  Little Finger x 2
  Thumb Actuation/Transmission
  3 gear-driven force-controlled joint module
  Four-finger Actuation/Transmission
  9 gear-driven force-controlled joint module
  Fingertip configuration   Round or Rounded Fingertips
  Lateral Swing   -15°~+15°（Index）
  Fingertip Repeat Positioning Accuracy
   ±0.20 mm
  Control Modes   Position control (low damping/high damping mode),   current-loop force control, force-position control
Fingertip Force
15N
Maximum Grip Strength (whole hand)
 80N
Maximum Grasp Weight (palm left)
16 Kg
Maximum Grasp Weight (palm up)
25 Kg
Thumb Farthest Opposition
 Little Pinky
Open/close Repetition Speed
 >2Hz
Back-drive Damping（Backdrivable）
≤0.1 Nm
Tactile Coverage
270° five-finger fingertip encirclement
Number Of Tactile Sensors
Five 270° three-dimensional encircling tactile array sensors on five fingertips
Tactile Resolution (whole hand)
12x10 (270° encircling per fingertip) x 5
Tactile Sensing Dimensions
Three-dimensional force sensing (Including tangential forces X and Y)
Whole-hand Control Frequency
83Hz
Communication Rate
EtherCAT：100MHz
RS485：3MHz
Sensing Parameters
Fingertips: 120 three-dimensional profiling array forces
Joints: position, velocity, temperature, current (torque)
Control Parameters
Joint position, joint torque, joint stiffness coefficient, joint damping coefficient
No-load Grasp Cycles
1,000,000 cycles
Operating Temperature Range
 -20°C ~ 60°C 
Working Voltage
24V ~ 72V
Static Current
0.15A @48V, 7W
Maximum Current
2.5A@48V,120W
Communication Interface
RS485(USB), EtherCAT

Xhand_adapter.stp
MH2.25_right_stp.zip
MH2.25_left_stp.zip
XHand_Control_ROS_Documentation.pdf
X-Hand_1_Product_Manual_1.0.pdf
X-Hand_1_User_Quick_Start_Instructions_1.0.pdf