QB Robotics SoftHand Research - Characteristics and key features; Standard customization

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QB SOFTHAND RESEARCH USER GUIDE —13
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A custom-made single-master-multiple-slave (SMMS) serial communication protocol is implemented to:
send commands to the connected devices;
read measurements from the connected devices (motor position and/or current);
get and set configuration parameters.
4.2 Characteristics and key features
Flexibility, adaptivity and robustness thanks to the soft-robotics design;
19 anthropomorphic DOFs controlled in one single synergy motion;
Dislocatable and self-reposition phalanges;
Up to 60 N grasping force*;
Up to 2.0 kg maximum payload*;
Maximum closure time of 1.1 s;
Total weight of 770 g (including aluminium flange and screws);
Universal Robots + plug-and-play certified;
ROS packages and general C++ API available;
* Grasp forces and payloads highly depend on object dimensions and approaching strategy (cf.
Mechanical Characteristics(see Page 6) ).
4.3 Standard customization
Mechanical flange adapters for non-standard robot flanges;
Left and Right chirality configurations;
Five distinct cover colors: dark-grey, orange, electric-blue, blackand white.
2-byte — common preamble;1
1-byte — target slave id;2
1-byte — payload length;3
n-byte — payload;4
1-byte — checksum for communication integrity.5
NOTE:
We may evaluate other customization for special partners; for requests, please contact our
sales team
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