Wonik robotics Allegro hand User manual

wiki.wonikrobotics.com/AllegroHandWiki

Allegro Hand User's Manual v4.0

Allegro, the Allegro logo and all related files and documentation are Copyright by WONIK ROBOTICS.

Allegro, Allegro Hand and RoboticsLab are trademarks of WONIK ROBOTICS. All other trademarks

or registered trademarks mentioned are the property of their respective owners.

Contents

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

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

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

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

Wiki for Users...................................................................................................................................1

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

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

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

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

Related Products.....................................................................................................................................4

Joint Dimensions.....................................................................................................................................5

Joint Directions........................................................................................................................................6

Right Hand.......................................................................................................................................6

Left Hand .........................................................................................................................................6

Mounting the Allegro Hand......................................................................................................................7

Mounting Block Removal .................................................................................................................7

Mounting ..........................................................................................................................................9

Reassembly .....................................................................................................................................9

Mount Block Dimensions ...............................................................................................................10

Allegro Hand Wiring ..............................................................................................................................11

Wiring......................................................................................................................................11

Power......................................................................................................................................11

CAN Driver Installation..........................................................................................................................11

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

PEAK PCAN-USB (Drivers available for Windows and Linux) ............................................12

CAN Protocol ........................................................................................................................................12

Baud-Rate......................................................................................................................................12

Non-Periodic Communication........................................................................................................12

Periodic Communication................................................................................................................12

CAN Frames .........................................................................................................................................13

Arbitration Identifier........................................................................................................................13

Message ID.............................................................................................................................13

Device ID ................................................................................................................................13

Data Structure................................................................................................................................14

Servo ON................................................................................................................................14

Servo OFF ..............................................................................................................................14

Set Torque Finger #................................................................................................................14

Set Position Finger # ..............................................................................................................14

Set Periodic Read...................................................................................................................14

Config .....................................................................................................................................14

Information..............................................................................................................................15

Serial.......................................................................................................................................15

Position Finger #.....................................................................................................................16

IMU .........................................................................................................................................16

Temperature Finger #.............................................................................................................16

Status......................................................................................................................................16

Using Allegro Hand Sample Program...................................................................................................16

Home ......................................................................................................................................16

Ready .....................................................................................................................................17

Grasp 3...................................................................................................................................17

Grasp 4...................................................................................................................................17

Pinching (I)..............................................................................................................................17

Pinching (M)............................................................................................................................17

Envelop...................................................................................................................................17

Technical Support .................................................................................................................................18

iii

Quick Start Guide

In The Box

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

1. Allegro Hand

2. Allegro Hand Hard Case

3. Power Supply and AC Cable

4. Desktop Stand

5. M2x*mm socket-head cap screws and hex key set (extra)

6. Wires/Connectors

6.1 Cable:Power

6.2 Cable:COMM

6.3 SPHD-001T-P0.5 crimp

6.4 PHDR-20VS Connector Housing

6.5 DB9 Terminal Connector

6.6 FFC Cable set(extra)

qty 1

qty 40

qty 2

qty 1

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:

12V - 24V

120W

Amperage:

Wiki for Users

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

wiki.wonikrobotics.com/AllegroHandWiki

Allegro Hand Overview

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.)

Support for real-time control and online simulation

Technical Specifications

Number of Fingers

Degrees of Freedom

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

4 fingers x 4 = 16 (Active)

Type

DC Motor

1:369

Gear Ratio

Max. Torque

Overdrive Torque

Actuation

0.70 (Nm)

0.90 (kg)

Finger

Thumb

Total

0.17 (kg)

0.19 (kg)

1.20 (kg)

Weight

Measurement

Potentiometer

0.002 (deg)

Joint Resolution

Resolution (nominal)

Type

CAN

Communication

Frequency

333 (Hz)

Power Requirement

12~24V, 120W

System Requirements

Intel® Core™2 Duo or higher

CPU

RAM

at least 2GB

HDD

OpenGL 3.0 H/W Acceleration enabled

with at least 64Mb of video RAM

Graphics

MS Windows® XP,

MS Windows® Vista,0.19

MS Windows® 7

Additional S/W

Communication

MS Visual Studio®

NI or PEAK CAN

Note: Any CAN interface can be user-

configured for use with the Allegro Hand.

Related Products

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.wonikrobotics.com/RoboticsLab.htm

Joint Dimensions

All dimensions are displayed in millimeters (mm) and degrees.

Joint Directions

Right Hand

Left Hand

Mounting the Allegro Hand

All dimensions are displayed in millimeters (mm) and degrees.

Mounting Block Removal

The mounting block is connected to the Allegro Hand using six (6) M3 flat-head screws (3 on each

side).

Remove three (3) screws on either side of the hand.

DO NOT remove the two (2) screws labeled A or the corresponding screws on the other side of the

hand.

Note: Secure the hand while unscrewing the mounting block to avoid dropping the hand once

disconnected.

Once the six (6) screws have been removed, the mounting block can be removed from the bottom of

the hand.

Mounting

The block can be mounted to a surface using six (6) M3 socket-head cap screws.

Note: The hand should be mounted to a raised area so as to avoid thumb-mount interference during

hand movement.

Reassembly

Place the hand onto the mounting block and replace the six (6) M3 flat-head screws

(3 on each side).

Mount Block Dimensions

The relevant dimensions of the mounting block are presented in millimeters (mm).

4.x, 3.x:

2.x:

Allegro Hand Wiring

Wiring

On the back of the Allegro Hand, you will see a connector. This connector is used to supply power to

hand. It also has external interfaces. Connector used is JST PHD series 20 position part

Part Name

Note

PCB Header

Plug Housing

JST B20B-PHDSS

JST PHDR-20VS

Crimp : SPHD-001T-P0.5

Connector Pinout

No. I/O Description

PWR Power In. +12~24V

PWR Power In. 0V

I/O CAN H

PWR Power In. +12~24V

PWR Power In. 0V

I/O CAN L

I/O RS-485 A

I/O RS-485 B

DC 3.3V/100mA

GND

F10

Power

The Allegro Hand must be powered by DC +12~24V, 120W power supply. If a capacity of power

supply is not sufficient, It will not work properly.

Once the power is supplied at the rated values, the power switch on the back of the Allegro Hand can

be switched on (upward towards the fingers) to provide power to the hand.

CAN Driver Installation

Your CAN interface, USB (NI, PEAK), should be installed or plugged in to you computer before

installing the proper drivers.

CAN Hardware drivers, if not included with the hardware, can be downloaded from the respective

manufacturer's website. For the two CAN interfaces available through WONIK ROBOTICS, product

drivers and documentation are available at the following websites.

Note: After installation, check in Start Menu > Control Panel > Device Manager to make sure that a

driver has installed successfully.

NI USB-8473s CAN

Product Page:

Driver Page:

sine.ni.com/nips/cds/view/p/lang/en/nid/203385

joule.ni.com/nidu/cds/view/p/id/3152/lang/en

PEAK PCAN-USB (Drivers available for Windows and Linux)

Product Page:

Driver Page:

http://www.peak-system.com/PCAN-USB.199.0.html?&L=1

http://www.peak-system.com/forum/viewtopic.php?f=119&t=66

Note: You may be required to reboot after your CAN driver installation.

Any of the CAN interface devices mentioned about can be purchased through WONIK ROBOTICS.

CAN Protocol

The Allegro Hand designed with CAN specification 2.0

Baud-Rate

The CAN communication baud-rate is 1Mbps.

Non-Periodic Communication

Messages can be sent to initialize or stop CAN communication.

Remote frame can be used to request data. If host sends remote frame, the Allegro Hand responds

with it regardless periodic communication status.

Periodic Communication

The Allegro Hand control software attempts to communicate with the real or simulated hand at a

regular control interval. Every 3 milliseconds, the joint torques are calculated and the joint angles are

updated.

CAN Frames

Arbitration Identifier

The Allegro Hand uses 11 bit standard arbitration identifier. It is composed with two part.

MSB

LSB

Message ID

Device ID

Message ID

Message

MessageRTRDescription

Servo ON

0x040

0x041

0x060

0x061

0x062

0x063

0x0E0

0x0E1

0x0E2

0x0E3

0x081

Engage joint motor driver

Disable joint motor driver

Set torque of finger #1

Set torque of finger #2

Set torque of finger #3

Set torque of finger #4

Set position of finger #1

Set position of finger #2

Set position of finger #3

Set position of finger #4

Servo OFF

Set Torque Finger 1

Set Torque Finger 2

Set Torque Finger 3

Set Torque Finger 4

Set Position Finger 1

Set Position Finger 2

Set Position Finger 3

Set Position Finger 4

Set Periodic Read

Set periodic read interval for position, IMU,

temperature, status

Config

0x068

Set Device ID, Baud-rate for RS-485

Information

Serial

0x080 R Product information and status

0x088 R Product serial number

Position Finger 1

Position Finger 2

Position Finger 3

Position Finger 4

IMU

0x020 R Current angle position of finger #1

0x021 R Current angle position of finger #2

0x022 R Current angle position of finger #3

0x023 R Current angle position of finger #4

0x030 R Current IMU quaternion

Temperature Finger 1

Temperature Finger 2

Temperature Finger 3

Temperature Finger 4

Status

0x038 R Current temperature of finger #1

0x039 R Current temperature of finger #2

0x03A R Current temperature of finger #3

0x03B R Current temperature of finger #4

0x010 R Current Status

Messages marked with RTR can be sent by host in remote frame, and the Allegro Hand will respond it.

Device ID

Multiple Allegro Hand can be used in the same CAN bus. In such case, Device ID field is used to

distinguish each device.

Default device ID is 0, and it can be configured using Config message. Changed Device ID is stored

in internal non-volatile memory and will be retained for power cycle.

Data Structure

Each message has different data filed format. All multi-byte data structures in data filed uses little

endian.

Servo ON

Data Length = 0

This message does not have data field.

Servo OFF

Data Length = 0

This message does not have data field.

Set Torque Finger #

Data Length = 8

Each finger has 4 joints. This message sets joint torque set-point. Torque set-point is 2 byte signed

digit. Data field is composed as below.

Torque Data[0:7]

Joint 1

Joint 2

Joint 3

Joint 4

Set Position Finger #

Data Length = 8

Each finger has 4 joints. This message sets position set-point. Position set-point is 2 byte signed digit.

Data field is composed as below.

This message is not implemented yet.

Position Data[0:7]

Joint 1

Joint 2

Joint 3

Joint 4

Set Periodic Read

Data Length = 8

This message sets periodic report interval. Period is configured in milli-second. If period is set to 0,

that message will not be reported periodically.

Period Data [0:7]

Position

IMU

Temperature

Status

Config

Data Length = 6

This message sets Device ID and RS-485 baud-rate. If SET field bit is marked, corresponding data

will be stored in internal non-volatile memory.

Config Data [0:5]

SET

Dev.ID

RS-485 baud-rate

SET field is structured as below.

SET field bit flag

MSB

LSB

Baud- Dev.

rate

Dev.ID field is structured as below.

Dev.ID field bit

MSB

LSB

Device ID

Baud-rate field is structured as below.

Baud-rate filed [31:0]

…

MSB 30

LSB

Baud rate in bps

Information

Data Length = 7

Information message is composed with hardware version, firmware version, palm temperature, status

flag. The Allegro Hand sends this message when the host request by remote frame.

Information Data [0:6]

Hardware

Ver.

Firmware

Ver.

Tem

L/R

Stat

Hardware Ver. And Firmware Ver. Is 2 byte number.

L/R field shows which side hand is. If this field is 0, it means the Hand is right hand.

Temp. field shows palm temperature. Represented in signed Celsius degree.

Stat field represents current status. The same data can be retrieved using Status message.

Stat. field bit flag

MSB

LSB

S : Servo status. 0 means servo OFF.

F1 : One or more of joints is in high temperature fault state.

F2 : One or more of joints is in high temperature throttling state.

F3 : One or more of joints is in communication timeout state.

F4 : Palm is in high temperature fault state.

Serial

Data Length = 8

Serial number can be retrieved using CAN interface. It is stored in ASCII characters. The Allegro

Hand sends this message when the host request by remote frame.

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