Linker Hand O7 Lightweight Dexterous Robotic
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Product Information
Specifications
- Product Name: Linker Hand O7
- Degrees of Freedom: 7 (7 active freedoms, 10
passive freedoms) - Main Features:
- Compact and flexible design
- High durability with aluminum alloy body
- End-to-end integration technology for efficient deployment
- Sensors:
- Touch sensors: Piezoresistive and Capacitive
- In-finger micro 3D force sensor
Product Usage Instructions
1. Assembly and Setup
Follow the provided assembly instructions to set up the Linker
Hand O7.
2. Power On
Connect the hand to a power source using the included adapter
and switch on the power button.
3. Sensor Calibration
Calibrate the touch sensors and the in-finger micro 3D force
sensor as per the user manual to ensure accurate readings.
4. Operating Modes
The hand can be operated in different modes such as assisted
grasping, intelligent interaction, etc. Select the desired mode
using the provided interface.
5. Maintenance
Regularly clean the hand using a soft cloth and ensure no dust
or debris accumulates on the sensors for optimal performance.
Frequently Asked Questions (FAQ)
Q: Can the Linker Hand O7 be used for industrial
applications?
A: The Linker Hand O7 is more suitable for basic application
scenarios such as education, scientific research, and assisted
grasping due to its design and capabilities.
Q: How do I update the ROS plug-ins for the O7?
A: Refer to the user manual for instructions on updating ROS
plug-ins and performing secondary development on the Linker Hand
O7.
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LinkerHand O7 Product Manual V1.1
Linker Hand O7 Product Manual
1. Product Overview
1.1 Product Introduction
Linker Hand O7 is a high-performance dexterous hand with 7 degrees of freedom. It adopts connecting rod transmission and self-developed motor drive, which ensures basic stretching and operation capabilities while reducing costs, meeting various application needs.
O7 provides ROS plug-ins and supports secondary development. It is suitable for basic application scenarios such as education and scientific research, assisted grasping, and intelligent interaction, providing an efficient and dexterous hand solution for the robot system.
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1.2 Main Features
1. Compact and flexible: The compact structure design not only reduces the overall load of the equipment, but also improves flexibility and can be arranged in a compact environment. It can also achieve precise grasping and flexible operation
2. High durability: The main body is made of aluminum alloy, which is lightweight and highly wear-resistant, ensuring long-term stable operation and suitable for various types of intelligent Training scenario
3. End-to-end integration: Innovative end-to-end integration technology can be quickly deployed through the skill library cloud service without the need for users to write code, achieving high efficiency. Customized operations to reduce the difficulty of use
2. Product display
3. Example of freedom
O7 (7 active freedoms, 10 passive freedoms)
4. Range of motion
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4.1 Four-finger structure 4.2 Thumb structure
5. Product parameters
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6. Appearance and size
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7. Sensors
7.1 Touch
Equipped with fingertip sensors, it can predict and sense the presence and distance of objects; when in contact, it can accurately capture three-dimensional force and identify surface textures and Temperature changes.
7.1.1 Piezoresistive sensor (standard)
parameter Piezoresistive array
Sensing area
Trigger force
Range life
Communication frame rate
Numerical range
Specifications 6*12 7.20*14.40mm 5g 20N
100,000 times
200FPS 0~4095
7.1.2 Capacitive sensor (optional)
Equipped with fingertip sensors, it uses highly sensitive sensing technology to predict and sense the presence and distance of objects; when in contact, it can accurately capture Capture three-dimensional forces and identify surface texture and temperature changes. Fingertip tactile sensor
parameter Sampling frequency Measuring range Measurement resolution Measurement resolution Measurement accuracy Measurement resolution
Direction resolution
Specifications ÿ50Hz 0-20N 0.1N 0.5%FS 2%FS 0.25N 45°
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In-finger micro 3D force sensor
parameter Measuring range
Maximum force
Measurement resolution Fastest measurement rate
Specifications 0-50N 200N 0.2N 1KHz
7.2 Vision (optional)
The design method of high-sensitivity fingertip camera + palm camera + wrist is adopted to perform multi-vision fusion perception, and the minimum teleoperation system is equipped with a depth camera on the arm.
7.3 Visual and tactile perception (optional)
It has a visual-tactile perception mode, and its essence is to adopt a combination of vision + deep learning big model. The principle of this technical solution is to use a high-precision camera to shoot the deformation of variable flexible materials. When subjected to force, the grid shape deforms, and our miniature binocular camera records the deformation. Then, based on the trained deep learning big model, it maps out the depth information and movement trend of the object.
Momentum.
8. Communication method
All versions of Smart Hand support the use of CAN bus debug port or EtherCAT. EtherCAT (Ethernet Control Automation Technology) is a fieldbus based on 100Mbps Ethernet. It is currently used in many systems, and the latest version of Linker Hand is very compatible with EtherCAT and ROS systems. EtherCAT or CAN with ROS requires a high-performance multi-core PC or our AI-Box device, and a standard Ethernet port. The EtherCAT protocol used by LinkerHand mainly relies on the upper host or AI-Box to complete the work.
Supported features 1. Enabling and disabling location control 2. Change the PID value of torque control 3. Perform restrictive operations, such as cutting off force, current, temperature, etc. 4. Reset the motor
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5. Adjust the data transmission rate of the motor and tactile sensor 6. Track errors and status indicators in components 7. Download the latest firmware to the motor module 8. Download the latest Skill function module to your controller 9. Get data from visual sensors Control strategy Using the default configuration, EtherCAT can implement position control strategies with the help of a host computer or AI-Box. More complex control algorithms can be used, which can fuse information from joints and tactile sensors, and even visual signals through ROS. The torque loop inside the motor unit is closed at a frequency of 5kHz. The PID settings of this loop can be changed in real time. If a different control strategy is needed, existing control strategies can be purchased from the Skill Store cloud service and used directly without programming. It also supports downloading new firmware to the motor. Microcontroller Linker Hand uses self-developed microcontrollers for the embedding of the entire robot system. All microcontrollers are connected to the internal CAN bus and can be accessed through the EtherCAT interface.
Documents / Resources
 | RobotShop Linker Hand O7 Lightweight Dexterous Robotic [pdf] Instructions O7 Left, O7 Right, Linker Hand O7 Lightweight Dexterous Robotic, Lightweight Dexterous Robotic, Dexterous Robotic |