Hey5 hand#
The Hey5 hand is shown in the figure below. The main specifications of this underactuated, self-contained hand are summarized in the table.
Figure: Hey5 hand#
Weight |
720 g |
Payload |
1 Kg |
Joints |
19 |
Description |
Max speed [rpm] |
Max troque [Nm] |
|---|---|---|
Thumb |
32 |
0.23 |
Index |
32 |
0.23 |
Middle+right+little |
34 |
0.45 |
Credits and attribution
The Hey5 hand has been developed by PAL Robotics Inc., with contributions from QBrobotics srl.
The Hey5 hand is a derivative of the Pisa/IIT SoftHand open source project by M. G. Catalano, G. Grioli, E. Farnioli, A. Serio, C. Piazza and A. Bicchi.
The Pisa/IIT SoftHand project is distributed under Creative Commons Attribution 4.0 International License and is available at NaturalMachineMotionInitiative.com.
PAL gripper#
The PAL parallel gripper is shown in figure below. The gripper contains two motors, each controlling one of the fingers. Each finger has a linear range of 4 cm.
Figure: PAL gripper#
Weight |
800 g |
Payload |
2 Kg |
interchangeable fingers |
Yes |
Description |
Reduction |
Max speed [rpm] |
Max troque [Nm] |
Absolute encoder |
|---|---|---|---|---|
Left finger |
193:1 |
55 |
2.5 |
12 bits |
Right finger |
193:1 |
55 |
2.5 |
12 bits |