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ROBOTIS Robot Hand for Universal Robots e-Series
1-DOF Two-Finger Hand
Multi-functional robot hand with 2 fingers powered by 10W DC motor.
Adaptive Gripping Design
Passive Joints enable adaptive gripping for various shapes of objects.
Current Control (Force Control)
Torque control and current-based position control make it possible to pick up objects of various materials.
Light Weight & High Power
5kg of high payload is delivered from 500g light weighted robot hand.
Detachable Finger Tips
Detachable finger tips can be easily replaced with customized finger tips.
Intuitive and Simple Mounting
The robot band can be quickly mounted on ROBOTIS Manipulator.
Simplified design enables easy mounting on custom applications.
Package including RH-P12-RN & Universal Robots e-Series exclusive parts
RH-P12-RN
UR3e
UR5e
UR10e
UR16e
Please make necessary modifications to ID, baud rate, etc. after purchase
The shape has been changed to increase the durability of the fingertip, which has resulted in a stroke change of 109mm to 106mm.
(Applies to orders shipped out from November 4, 2019)
Product Name : OpenMANIPULATOR-PROModel Name : RM-P60-RNHUser Programmable Open-Source Manipulator System
Modular Platform for Easy Maintenance and Customization
No External Control Box & High Weight-to-Payload Ratio
Package Components
200W / 2ea
100W / 2ea
20W / 2ea
Controller
OpenMANIPULATOR-PRO Library (Kinematics,Trajectory and Dynamixel Controller).GUI program package for setting and monitoring control parameters.
MoveIt! package for OpenMANIPULATOR-PRO
Simulation package based on Gazebo Simulator
Teleoperation examples of keyboard and Joystick
Research and Education
Kinematics and Dynamics Experiment
Research and Design a Dual Arm Robot
Build a Mobile Robot System
Industrial Operation
Inspection Equipment
Small-Scale Delivery System
Power supply and PC are not included.Please purchase separately according to your usage environment.
.
All-in-one Modular DesignDC Motor + Controller + Driver + Sensor + Cycloid Reduction Gear
Compact and LightweightMinimized module size with compact and lightweight cycloid reduction gear.
High weight-to-output ratio(0.05Nm/g)
High impact resistance ( over 400%)
High Precision and Low Backlash
Contactless (Magnetic) Absolute Encoder(by AMS) & Incremental Encoder for Precise Positioning
Low backlash (3~4arcmin)
Performance data provided tested by Korea Laboratory Accreditation Scheme(KOLAS)
Current-Based Torque Control High speed current sensing algorithm and current feedback control
Triple-loop control for current, speed and position feedback.
User Friendly development environment
Provide C language based library Various solution examples (C++, LabVIEW, C#, eclipse, JAVA, etc..)
Links
○ e-Manual
○ Drawing
○ DYNAMIXEL SDK
[905-0019-000] Manipulator Base Plate
■ Description
This base plate made of aluminum is used to fix the ROBOTIS Manipulator-H to a table.
Use a clamp or the holes on the plate to fix onto the plate. [Clamp not included]
■ Package Contents
Description
Qty
Weight
Frame
Base Plate (450mm x 330mm)
1
2.15 kgs
Angle
2
30g/ea
Screw
Wrench Bolt(WB M3*8)
30
-
■ Installation Method
1. Fix the ‘ㄱ’ shaped angle with the bolt to the Manipulator joint #1
2. The photo on the left is the external wiring for the arm. Label #1 shows a pair of 4P cables and power connector; these connect to joint #1 as shown on the right picture.
3. Once the connections are complete, fix the arm to the base plate as shown on the photo below.
4. Label #2 shows a 4P connector and 4 power connectors and these connect to the power expansion hub and the 4P cable connects to the extension.
5. Connect the USB2Dynamixel to the hub with the 4P cable; connect another port of the 4P hub to the extension.
■ Drawings
LINK
[905-0022-000] RH-P12-RN
■ Basic Features
Dynamixel 2.0 Protocol
The robot hand supports DYNAMIXEL 2.0 protocol for easy control.
Power and communication are connected via DYNAMIXEL BUS.
Quantity
Robot Hand
FRP54-A110
WB M3x8
20
Cable
Robot Cable-X4P 180mm
Robot Cable-X4P 180mm (Convertible)
■ H/W Specifications
MCU
ST CORTEX-M4 (STM32F405 @ 168Mhz, 32bit)
Position Sensor
Contactless Absolute Encoder (12bit, 360°)
Motor
Coreless
Baud Rate
9,600 bps ~ 10.5 Mbps
Control Algorithm
PID Control
Degree of Precision
0.088°
Operating Mode
Current Control ModeCurrent based Position Control Mode
500g
Stroke
0 ~ 109mm
Gear Ratio
1295.7 : 1
Maximum Gripping Force
170N
Recommended Payload
5kg
Operating Temperature
-5°C ~ 55°C
Nominal Voltage
24V
Command Signal
Digital Packet
Protocol Type
RS485 Asynchronous Serial Communication(8bit, 1stop, No Parity)
Physical Connection
RS485 Multi Drop BUS
ID
0 ~ 252
Feedback
Position, Velocity, Current, Temperature, Input Voltage, etc
Material
Full Metal Gear, Metal Body
Standby Current
30mA
Peak Current
3.33A
■ Default Settings
ID : 1
Baud Rate : 57600bps
(Please make necessary modifications to ID, baud rate, etc. after purchase)
■ Model Numbering
FeatureThis product is a compact version of OpenManipulator based on ROS.It has a high payload as DYNAMIXEL XM-430 model is applied. Easy to use with PC or mobile platform such as TB3 Waffle Pi. Provides source code and development environment which helps you immediately operate it with TB3 Waffle PiYou can freely select and use either PC or Controller e.g. OpenCR.Provides a variety of open source software as well as 3D drawings and CAD data for research and development.
XM430-W350-T
5
Exclusive Plastic Frame Set
FR12-H101K
FR12-H104K
FR12-S101K
FR12-S102K
HN12-I101 Set
3
HN11-I101 Set (spare)
Robot Cable Set X3P (by length)
Bolt & Nut Set
Rubber Pad (Finger Tip)
2 types x 2
Phillips Screwdriver
Allen Wrench (by type)
H/W Specification
DYNAMIXEL
Power Supply (sold separately)
12V
Freedom of degree
5 (4DOF + 1DOF Gripper)
Payload
RPM (joint)
46RPM
Weight (assembly)
700g
Length
380mm
Gripper stroke
20~75mm
Interface
TTL Level Multi Drop BUS
Software
ROS. DYNAMIXEL SDK, Arduino, Processing
Controller (sold separately)
PC, OpenCR
Various Applications
Sold Seperately
Power Supply
SMPS 12V 5A
OpenCR or PC
U2D2
Etc.
Base Plate-02
CautionDYNAMIXEL, power supply, and controller are not included.Please purchase separately.
Compatible with TB3 controller and power.
The assembly Manuel is not included, but you can download the pdf file on online for free. (Refer to below link)The necessary idler set (HN11-I101 Set) is included in case you would like to use DYNAMIXEL XL430 as a hinge.(* Need to purchase DYNAMIXEL XL430 separately)
FeatureThis product is a frame set which can make X430 based OpenManipulator.You can assemble an OpenManipulator (4 DOF Arm + 1 DOF Gripper), which is the same as OpenManipulator (RM-X52).DYNAMIXEL X430 is not included so you can select a suitable DYNAMIXEL model considering payload.XH430, XM430 and XL430 are all compatible with this frame and can be also mixed.Both the idler set and the assembly tool for hinge frame assembly are all included.You can make an OpenManipulator with your desired specification and can fix it on Base Plate-02 or attach it to TB3 Waffle Pi.Package Component
HN11-I101 Set
CautionDYNAMIXEL, power supply, and controller are not included.XL430 Single-model configuration is not recommended as it might be short of output.When mixing XL430 with XH / XM430, they (XH / XM430) must be TTL communication model.
When you use XH430-V-series (24V model), you must configure your OpenManipulator as a single 24V model.AX / MX series, X540 series, and PRO series cannot be used.The Assembly Manuel is not included, but you can download the pdf file on online for free. (Refer to below link)
Package Contents
U2D2 is a small size USB communication converter that enables to control and to operate the DYNAMIXEL with the PC. It is smaller than the previous model and has mount holes to make it easier to install on robots. It uses the USB cable to connect to the PC and prevents damage of the USB terminals. It has both 3Pin connectors for TTL communication and 4Pin connectors for RS-485 communication embedded for easier control and access for the Dynamixel X series. (Supports UART as well.) Requires the convertible cable for Molex connector using Dynamixels.
PRODUCT
CABLE
USB Micro-B Cable
Robot Cable-X3P 180mm (Convertible)
Robot Cable -X4P 180mm (Convertible)
■ Hardware Specifications
Dimension(mm)
48 x 18 x 14.6
Weight(g)
9
Available Ports
- 3 Pin TTL Level : TTL Communication supported DYNAMIXEL
- 4 Pin RS-485 : RS-485 Communication supported DYNAMIXEL
- 4 Pin UART : Controllers that support 4 Pin UART(such as CM-150 and CM-200)
Max 6Mbps
■ Comparison to the USB2Dynamixel
USB2Dynamixel
Used connector and switch
PC to Board
USB Male A Connector
O
X
Micro USB Female B Jack
RS-232 Communication
J_DSUB9P Male
UART Communication
20010-WS04
RS-485 Communication
Molex 4P
JST 4P
TTL Communication
Molex 3P
JST 3P
Used communication
RS-232c
RS485
TTL
UART
USB TO UART IC
FT232RL(FTDI)
Max 3Mbps
FT232HL(FTDI)
Max 12Mbps
Supported OS
Windows
Linux (2.6.9 or later)
Mac OS-X
Mount Holes
Mounting holes for product fixation
Dimension
Width x Length x Height (mm)
90x35x20
48x18x14.6
■ Compatible Products
Products requiring Molex-JST conversion cable :
- Dynamixel AX/MX-Series Models (TTL and RS-485 versions)
- Dynamixel Pro Models (RS-485 version)
Products using basic JST cable :
- Dynamixel X-Series Models
- X3P and X4P Convertible cables are included in the basic package.
■Hyperlinks
Link to e-Manual : Click Here
■ Caution
U2D2 does not supply power to the DYNAMIXEL, therefore, an external power supply should be used to provide power to the DYNAMIXEL.
CONTROLLER
OpenCR1.0
USB Micro B Cable
Items
Specifications
Microcontroller
STM32F746ZGT6 / 32-bit ARM Cortex®-M7 with FPU (216MHz, 462DMIPS)
Sensors
Gyroscope 3Axis, Accelerometer 3Axis, Magnetometer 3Axis (MPU9250)
Programmer
ARM Cortex 10pin JTAG/SWD connector
USB Device Firmware Upgrade (DFU)
Serial
Extension Pins
32 pins (L 14, R 18) *Arduino connectivity
Sensor module x 4 pins
Extension connector x 18 pins
Communication Circuits
USB (Micro-B USB connector/USB 2.0/Host/Peripheral/OTG)
TTL (B3B-EH-A / Dynamixel)
RS485 (B4B-EH-A / Dynamixel)
UART x 2 (20010WS-04)
CAN (20010WS-04)
LEDs and buttons
LD2 (red/green) : USB communication
User LED x 4 : LD3 (red), LD4 (green), LD5 (blue)
User button x 2
Powers
External input source
5 V (USB VBUS), 7-24 V (Battery or SMPS)
Default battery : LI-PO 11.1V 1,800mAh 19.98Wh
Default SMPS : 12V 5A
External output source
12V@1A(SMW250-02), 5V@4A(5267-02A), 3.3V@800mA(20010WS-02)
External battery Port for RTC (Real Time Clock) (Molex 53047-0210)
Power LED: LD1 (red, 3.3 V power on)
Reset button x 1 (for power reset of board)
Power on/off switch x 1
Dimensions
105(W) X 75(D) mm
Weight (g)
60
■ Diagram
■ Hyperlinks
Controller Compatibility Chart : Click Here
Software RoboPlus (R+) : Click Here
Manual : Click Here
The U2D2 Power Hub Board combines with the U2D2 to supply a variety of external power sources to DYNAMIXELs.
The board is capable of supplying power to all DYNAMIXELs with the SMPS port, terminal block, and 2P power connector.
The board has holes to fix the U2D2 module and can be assembled using the rivets supplied in the package.
-Easily powers ON/OFF with the power switch
*Robot cable for connecting U2D2 is included.
- Use the Molex-JST Convertible Cable (Use 3P or 4P based on your communication selection)
DYNAMIXEL X-Series, PRO+ Series
- Use the JST Cable. (Use 3P or 4P based on your communication selection)
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