Sim-Lab Allegro Hand Manuel utilisateur

Allegro Hand User's Manual v1.4

Hyobong8 Bldg 2nd Fl, 1425-9 Seocho-Dong, Seocho-Gu,

Seoul 137-864, Korea

A L L E G R O H A N D U S E R S M A N U A L

Allegro, Allegro Hand, Allegro Application Studio for Allegro Hand, Allegro Hand Application Studio,

and RoboticsLab are trademarks of SimLab Co., Ltd. All other trademarks or registered trademarks

mentioned are the property of their respective owners.

A L L E G R O H A N D U S E R S M A N U A L

Copyright & Trademark Notice.................................................................................................................i

Quick Start Guide....................................................................................................................................1

In The Box........................................................................................................................................1

Power Supply...................................................................................................................................1

Read these Sections First................................................................................................................1

Allegro Hand Overview ...........................................................................................................................2

Features...........................................................................................................................................2

Technical Specifications..........................................................................................................................3

System Requirements.............................................................................................................................4

Products..................................................................................................................................................4

Installing Allegro Hand Application Studio (AHAS).................................................................................5

AHAS Installation.............................................................................................................................5

VC++ Redistributable.....................................................................................................................10

USB License Dongle Driver...........................................................................................................10

Finishing Installation ......................................................................................................................11

AHAS License Registration ...........................................................................................................11

CAN Driver Installation...................................................................................................................12

NI USB-8473s CAN................................................................................................................12

Softing CAN-AC2-PCI.............................................................................................................12

Kvaser PCIcan 4xHS..............................................................................................................12

ESD CAN-PCI/266..................................................................................................................12

A L L E G R O H A N D U S E R S M A N U A L

Using Allegro Hand Application Studio (AHAS)....................................................................................13

Running AHAS...............................................................................................................................13

Which Hand? .................................................................................................................................13

Virtual......................................................................................................................................13

Actual......................................................................................................................................13

Virtual Hand Simulation .................................................................................................................14

Home ......................................................................................................................................15

Ready .....................................................................................................................................15

Grasp 3...................................................................................................................................15

Grasp 4...................................................................................................................................15

Pinching (I)..............................................................................................................................15

Pinching (M)............................................................................................................................15

Envelop...................................................................................................................................15

Test Encoders (actual hand only)...........................................................................................15

Test Motors (actual hand only)...............................................................................................15

Sliders.....................................................................................................................................16

Actual Hand ...................................................................................................................................17

Wiring......................................................................................................................................17

Power......................................................................................................................................17

AHAS .............................................................................................................................................18

Quitting...........................................................................................................................................18

Joint Dimensions...................................................................................................................................19

Joint Directions......................................................................................................................................20

Right Hand.....................................................................................................................................20

Left Hand .......................................................................................................................................20

A L L E G R O H A N D U S E R S M A N U A L

Mounting the Allegro Hand....................................................................................................................21

Mounting Block Removal...............................................................................................................21

Mounting ........................................................................................................................................23

Reassembly...................................................................................................................................23

Mount Block Dimensions ...............................................................................................................24

CAN Protocol ........................................................................................................................................25

Baud-Rate......................................................................................................................................25

Non-Periodic Communication........................................................................................................25

Periodic Communication................................................................................................................25

CAN Frames .........................................................................................................................................25

Standard CAN Packet....................................................................................................................25

ID (Message Identifier)...................................................................................................................26

Command Identifiers......................................................................................................................26

Source and Destination Identifiers.................................................................................................26

Case-study: Softing CAN......................................................................................................................27

Opening the CAN Communication Channel..................................................................................27

CAN Initialization............................................................................................................................28

Starting Periodic CAN Communication..........................................................................................28

Stopping Periodic CAN Communication........................................................................................28

Transmitting Control Torques ........................................................................................................29

Receiving Joint Angles...................................................................................................................30

Technical Support .................................................................................................................................31

A L L E G R O H A N D U S E R S M A N U A L

In The Box

Included are the software and hardware necessary to get you started.

1. Allegro Hand

2. Allegro Hand Application Studio

2.1 Installation CD

2.2 USB License Dongle

3. 2mm Hex Wrench

4. M2x5mm socket-head cap screws (extra) qty 2

5. Wires/Connectors

5.1 4-pin wired male connector (power/CAN) qty 1

Note: Only hand end of wire is terminated.

CAN interface end must be terminated by user.

5.2 4-pin male connector body qty 1

5.3 Wire terminals (for use with connector) qty 4

Power Supply

Power provided to the Allegro Hand must meet the following specifications:

A power supply meeting these requirements can be purchased along with the Allegro Hand

Voltage: 7.4VDC (7.0V - 8.1V)

Amperage: 5A (minimum)

Read these Sections First

1. Installing Allegro Hand Application Studio (AHAS)

2. Using Allegro Hand Application Studio

Wiki for Users

All information provided in this user's manual along with a forum and tutorials is available at

simlab.co.kr/AllegroHand/wiki

Allegro Hand Hard Case

Optionally, a hard-plastic protective case can be purchased from SimLab for storing and transporting

your Allegro Hand. Please ask for details.

Note: The names Allegro Application Studio for Allegro Hand and Allegro Hand Application Studio

both refer to the software included with the Allegro Hand

A L L E G R O H A N D U S E R S M A N U A L

Allegro Hand is a low-cost and highly adaptive robotic hand.

With four fingers and sixteen independent current-controlled joints,

it's the perfect platform for grasp and manipulation research.

Features

Lightweight and portable anthropomorphic design

Low-cost dexterous manipulation with applications in research and industry

Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object

geometries

Capable of holding up to 1.5kg

16 independent current-controlled joints (4 fingers x 4 DOF ea.)

Allegro Hand Application Studio integration allows for simulation based algorithm prototyping

without ever changing your code

Support for real-time control and online simulation

A L L E G R O H A N D U S E R S M A N U A L

Number of Fingers

Three (3) fingers and a thumb (1) = 4

Degrees of Freedom

4 fingers x 4 = 16 (Active)

Actuation

Type

DC Motor

Gear Ratio

1:369

Max. Torque

0.70 (Nm)

Overdrive Torque

0.90 (kg)

Weight

Finger

0.17 (kg)

Thumb

0.19 (kg)

Total

1.20 (kg)

Joint Resolution

Measurement

Potentiometer

Resolution (nominal)

0.002 (deg)

Communication

Type

CAN

Frequency

333 (Hz)

Power Requirement

7.4VDC (7.0V - 8.1V), 5A Minimum

A L L E G R O H A N D U S E R S M A N U A L

CPU

Intel® Core™2 Duo or higher

RAM

at least 2GB

HDD

at least 2GB

Graphics

OpenGL 3.0 H/W Acceleration enabled

with at least 64Mb of video RAM

MS Windows® XP,

MS Windows® Vista,0.19

MS Windows® 7

Additional S/W

MS Visual Studio®

Communication

NI, Softing, Kvaser or ESD CAN

Note: Any CAN interface can be user-

configured for use with the Allegro Hand.

The Allegro Hand comes with its own version of SimLab's Allegro Application Studio (AAS), a robotics

software for developing and testing control algorithms for a variety of commercial robots. AAS for the

Allegro Hand includes a customized kinematics/dynamics simulator based on RoboticsLab.

Algorithms developed can be applied to the virtual hand as well as directly to the real hand without

any changes to the code.

For more information, please visit our Allegro Application Studio website:

www.simlab.co.kr/Allegro-Application-Studio.htm

Paired with our RoboticsLab development environment, the user can take full advantage of robust

dynamics and system control engines as well as out feature-rich controls SDK. RoboticsLab also

enables users to easily model custom robots and test environments in 3D and add built-in and custom

sensors, actuators and other devices. RoboticsLab provides the flexibility necessary to prototype and

test control algorithms for any system.

For more information, please visit our RoboticsLab website:

www.simlab.co.kr/RoboticsLab.htm

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