Описание
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Описание
| Dex3-1 Specification Table | |
| Parameter | Value |
| Weight | 710g |
| Size |
175mm × 88mm × 77mm
|
| Degrees of Freedom |
Thumb × 3Index Finger × 2Middle Finger × 2
|
| Transmission Mechanism |
6 Motors Drive Directly1 Motor Drive with Gears
|
| Angle of Joint |
Thumb Joint 0: -60°~60°Thumb Joint 1: -35°~60°The Thumb Joint 2: 0 to 100°Index Finger Joint 0: 0°~90°Index Finger Joint 1: 0°~100°Middle Finger Joint 0: 0°~90°Middle Finger Joint 1: 0°~100°
|
| Fingertip Repeat Positioning Accuracy | ±2mm |
| Working Voltage | 12~58V |
| Static Current | 58V @ 0.2A |
| Maximum Current | 10A |
| Communication Interface | USB2.0 |
| Working Temperature Range | -20℃ ~ 60℃ |
| Load Condition (Palm Facing Down) |
The Maximum Weight is: 500gThe Maximum Power Is: 400W@3s
|
| Load Condition (Palm Facing Left) |
The Maximum Weight is: 500gThe Maximum Power Is: 400W@3s
|
| Sensing Parameters | |
| Parameter | Value |
| Number of Pressure Sensors |
9 (Total of 33 Pressure Sensors)
|
| Array Resolution |
2 × 2 (Palm) × 32 × 2 (Single Finger Pad) × 33 × 1 (Single Fingertip) × 3
|
| Range of Perception | 10g~2500g |
| Maximum Acceptance (Unmanaged) | 20kg |
| Software Functions | |
| Parameter | Value |
| Communication Rate | 1000Hz |
| The Number of Bytes in a Full Packet |
Sender: 1234 bytesReceiver: 1270 bytes
|
| Perceptual Feedback |
Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current,Sensor Pressure Value, Sensor Temperature Value, IMU Data
|
| Control Feedback |
Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient
|
| Miniature Brushless Force Control Joint Parameters | ||
| Parameter | F-1515-108 | F-1515-214 |
| Model | F-1515-108 Miniature Brushless Force Control Joint |
F-1515-214 Miniature Brushless Force Control Joint
|
| Weight | 45g | 45g |
| Size | 34.8mm × 23.1mm × 23.3mm |
34.8mm × 23.1mm × 23.3mm
|
| Reduction Ratio | 2:48 | 4:34 |
| Maximum Torque (Ideal) | 0.76Nm | 1.498Nm |
| Maximum Torque (Actual) | The Torque Is In The Same Direction As The Speed: 0.49NmThe Torque Is In The Opposite Direction of The Rotational Speed: 1.37Nm |
The Torque Is In The Same Direction As The Speed: 0.86NmThe Torque Is In The Opposite Direction of The Rotational Speed: 3.1Nm
|
| Maximum Rotational Speed | 23rad/s | 11rad/s |
| Maximum Line Current | 4.76A | 4.76A |
| Communication Control Frequency | 1000Hz | 1000Hz |
| Method of Communication | High Speed Unibus |
High Speed Unibus
|
| Encoder | Rotor Absolute Value Encoder |
Rotor Absolute Value Encoder
|
| Working Temperature Range | -20℃ ~ 60℃ | -20℃ ~ 60℃ |
| IP Rating | / | / |
| Working Voltage | 12~24V | 12~24V |
| Motor Perceived Feedback | Torque, Angle, Angular Velocity, Temperature |
Torque, Angle, Angular Velocity, Temperature
|
| Motor Control Instruction | Torque, Angle, Angular Velocity, Stiffness, Damping |
Torque, Angle, Angular Velocity, Stiffness, Damping
|
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