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Description
- 1x Robotera Dexterous Hand XHAND1 (Right)
- 191 x 94 x 47 mm (L x W x T)
Basic Info
- Weight: 1100 g
- Active Degrees of Freedom (Total): 12
- Passive Degrees of Freedom (Total): 0
- DoF Allocation
- Thumb: 3
- Index Finger: 3
- Middle Finger: 2
- Ring Finger: 2
- Little Finger: 2
- Thumb Actuation/Transmission: 3 gear-driven, force-controlled joint modules
- Four-finger Actuation/Transmission: 9 gear-driven, force-controlled joint modules
- Fingertip Configuration: Round or Rounded Fingertips
- Lateral Swing (Index Finger): -15° to +15°
- Fingertip Repeat Positioning Accuracy: ±0.20 mm
- Control Modes: Position control (low damping/high damping mode), current-loop force control, force-position control
Load Capacity
- Fingertip Force: 15 N
- Maximum Grip Strength (whole hand): 80 N
- Maximum Grasp Weight (palm down): 16 kg
- Maximum Grasp Weight (palm up): 25 kg
Dynamic Performance
- Thumb Farthest Opposition: Little Pinky
- Open/Close Repetition Speed: >2 Hz
- Back-drive Damping (Backdrivable): ≤0.1 Nm
Sensing Configuration
- 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)
Software Functions
- Whole-hand Control Frequency: 83 Hz
- Communication Rate
- EtherCAT: 100 MHz
- RS485: 3 MHz
- Packet Size
- Transmitter: 2088–4896 bytes
- Receiver: 288 bytes
- 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
Reliability
- No-load Grasp Cycles: 1,000,000 cycles
- Operating Temperature Range: -20°C to 60°C
Electrical Parameters
- Working Voltage: 24V to 72V
- Static Current: 0.15A @ 48V (7W)
- Maximum Current: 2.5A @ 48V (120W)
- Communication Interface: RS485 (USB), EtherCAT