Dainichi Co.,Ltd.

KH HAND S1

admin — Thu, 17 Dec 2009 02:24:02 +0000

KH HAND S1

A Human – Type Robot Hand for Research

KH HAND SI (Kinetic Human-type Hand S1) is a small and lightweight robot hand for replicating movements of human hands.

SPECIFICATION

Five Fingers (20 joints and 15 degrees of freedom)

Weight: Less than 0.62 kg

Fingertip Power: 0.8 N or more

Frequency Response: 10 Hz or more

FEATURES

These human-type robot hands closely correspond to human hands geometrically and functionally. They have five fingers with a total of 20 joints and 15 degrees of freedom. By using plastic material for the frame and by employing small DC motors, we reduced the height by more than 10 % and weight by more than 50 %, compared to our previous model GIFU HAND III.

Fingers Capability

	Range of Motion (Degrees)	Sensor Resolution (Degrees)
1^st Joint	-20~20	1.22 X 10^-2
2^nd Joint	-10~90	2.44 X 10^-2
3^rd Joint	-10~90	5.58 X 10^-2

SENSORS

The following three types of sensors can be attached to the fingertips, the finger pads and the palm of the KH Hand S1. These sensors are optional and there is a charge for these sensors in the GIFU HAND III.

1. Distributed tactile sensor system manufactured by the NITTA CORPORATION (www.nitta.co.jp/English)

2. 6 axi force sensor for fingertips (Model: XFS-18M20A25-KH) manufactured by the NITTA CORPORATION (www.nitta.co.jp/English)

3. 6 axi force sensor for fingertips (Model: NANO 5/4) manufactured by

BL AUTOTEC, LTD. (www.bl-autotec.co.jp/english)

CONTROL SYSTEM

16ch Power Amplifier

Input: ±5V DC

Amplification Degree: 3.6

Dimensions: 225mm (L) X 150mm (H) X 300mm (W)

Cable: Cable 2 is 5 meters long

Required Cable 1, Cable 3 and Cable 4 corresponding to the D/A board, the CNT board and the A/D board

Recommended Interface Board

D/A board: PCI-3338 X 2 units

CNT board: PCT-6201 X 4 units

A/D board: PCI-3153 X 1 unit

(All of three boards are manufactured by the INTERFACE CO. LTD.)

MISCELLANEOUS

(1) We charge for arranging to install sensors and control systems for the robot hands.

(2) It is possible to supply a finger unit only.

NOTES

Since the KH Hand S1 is designed for research projects, we provide the KH Hand S1 under the following conditions:

(1) For research and development, specifications may be modified or changed as needed.

(2) If breakage occurs in normal operation, we repair it at no charge during the first 6 months of use. After that, we will charge for repair.

(3) Prolonged continuous operation cannot be guaranteed. The rated voltage of each motor is ±12 volt.

厚み６０％以下 (Less than 60% in thickness, compared to our previous model)

人間の手 (Human Hand)

動画再生 (Playing Video)

制御システムの概要（Outline for Control System）

GIFU HAND III

admin — Thu, 17 Dec 2009 01:55:30 +0000

GIFU HAND III

A Human – Type Robot Hand for Research

Human-type robot hands, small and lightweight bodies, have been developed for research into grasping and manipulating of objects and operating mechanical devices.

SPECIFICATION

Five Fingers: The thumb has 4 joints and 4 degrees of freedom, and each of the

other four fingers has 4 joints and 3 degrees of freedom.

Weight: 1.4 kg

Fingertip Power: 2.7 N or more

Frequency Response: 6Hz or more

FEATURES

These human-type robot hands closely correspond to human hands geometrically and functionally. They have five fingers with a total of 20 joints and 16 degrees of freedom. By employing small servomotors inside the fingers, they become small and lightweight bodies. Each finger is a complete module or unit so that maintenance is easier.

Thumb

	Range of Motion (Degrees)	Sensor Resolution (Degrees)
1^st Joint	-28~28	7.87 X 10^-3
2^nd Joint	-10~90	1.46 X 10^-2
3^rd Joint	-10~90	3.79 X 10^-2
4^th Joint	-10~90	7.03 X 10^-2

Other Four Fingers

	Range of Motion (Degrees)	Sensor Resolution (Degrees)
1^st Joint	-28~28	7.87 X 10^-3
2^nd Joint	-10~90	1.46 X 10^-2
3^rd Joint	-10~90	3.79 X 10^-2

SENSORS

The following two types of sensors can be attached to the fingertips, the finger pads and the palm of the GIFU HAND III. These sensors are optional and there is a charge for these sensors in the GIFU HAND III.

1. 6 axi force sensor for fingertips (Model: NANO 5/4) manufactured by

BL AUTOTEC, LTD. (www.bl-autotec.co.jp/english)

2. Distributed tactile sensor system manufactured by the NITTA CORPORATION

(www.nitta.co.jp/English)

CONTROL SYSTEM

16ch Power Amplifier

Input: ±5V DC

Amplification Degree: 3.6

Dimensions: 225mm (L) X 150mm (H) X 300mm (W)

Cable: Cable 2 is 5 meters long

Required Cable 1, Cable 3 and Cable 4 corresponding to the D/A board, the CNT board and the A/D board

Recommended Interface Board

D/A board: PCI-3338 X 2 units

CNT board: PCT-6201 X 4 units

A/D board: PCI-3153 X 1 unit

(All of three boards are manufactured by the INTERFACE CO. LTD.)

Control Library

We sell a function library (C language) corresponding to the recommended interface boards.

MISCELLANEOUS

(1) We charge for arranging to install sensors and control systems for the robot hands.

(2) It is possible to supply a finger unit only.

NOTES

Since the GIFU HAND III is designed for research projects, we provide the GIFU HAND III under the following conditions:

(1) For research and development, specifications may be modified or changed as needed.

(2) If breakage occurs in normal operation, we repair it at no charge during the first 6 months of use. After that, we will charge for repair.

(3) Prolonged continuous operation cannot be guaranteed. The rated voltage of each motor is ±12 volt.

Playing Video

Outline for Control System

Product Model 6 Examples 51-60 for Microfabrication Example 51

admin — Mon, 09 Nov 2009 08:06:12 +0000

We introduce our technology by showing drawings for micro-fabricated products produced at our facility. The following drawings are based on actual products, however, we added some minor changes to safeguard the customer’s proprietary information.