Robotera

xHand1

ROBOTER X-HAND Grippers

Basic Info

Category
Specifications

Weight

1100g

Dimensions (L × W × T)

191 mm × 94 mm × 47 mm (adult hand size)

Active DOF (Total)

12

Passive DOF (Total)

0

DOF Allocation

Thumb × 3, Index × 3, Middle × 2, Ring × 2, Little × 2

Thumb Transmission

3 gear-driven force-controlled joint module

Four-finger Transmission

9 gear-driven force-controlled joint module

Fingertip Configuration

Round or Rounded

Lateral Swing (Index)

-15° ~ +15°

Fingertip Repeat Accuracy

±0.20 mm

Control Modes

Position control (low/high damping), current-loop force control, force-position

Load Capacity

Category
Specifications

Fingertip Force

15 N

Max Grip Strength

80 N

Max Grasp Weight (Palm Left)

16 Kg

Max Grasp Weight (Palm Up)

25 Kg

Dynamic Performance

Category
Specifications

Thumb Opposition

Farthest to Little Finger

Open/Close Speed

>2 Hz

Back-drive Damping

≤0.1 Nm

Sensing Configuration

Category
Specifications

Tactile Coverage

270° five-finger fingertip encirclement

Tactile Sensors

5 × 270° 3D encircling tactile array sensors

Tactile Resolution

12×10 per fingertip × 5

Sensing Dimensions

3D force sensing (including tangential X & Y)

Software Functions

Category
Specifications

Control Frequency

83 Hz

Communication Rate

EtherCAT: 100 MHz, RS485: 3 MHz

Packet Size

Transmit: 2088–4896 bytes, Receive: 288 bytes

Sensing Parameters

Category
Specifications

Fingertips

120 3D profiling array forces

Joints

Position, velocity, temperature, current (torque)

Control Parameters

Joint position, torque, stiffness coefficient, damping coefficient

Reliability

Category
Specifications

No-load Grasp Cycles

1,000,000 cycles

Operating Temp Range

-20°C ~ 60°C

Electrical Parameters

Category
Specifications

Working Voltage

24V ~ 72V

Static Current

0.15A @ 48V (7W)

Max Current

2.5A @ 48V (120W)

Communication Interface

RS485 (USB), EtherCAT

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