36 mm < b < 205 mm 50 mm < Ø < 145 mm 80 mm < Ø < 140 mm 17 mm < Ø < 215 mm Centric Configuration Encompassing and Parallel Motion Modular Fingers 2 active dof each integrated drives Pivoting Joints 2 fingers contrarywise 1 active dof Body fully integrated control Tactile Sensor Array in each phalanx Manipulator Interface EN ISO 9404-1-50 Industrial Standard Modular Joints distal joint (middle of finger) proximal joint (finger root) SCHUNK Dextrous Hand 2.0 (SDH 2.0) SCHUNK GmbH & Co. KG Bahnhofstrasse 106-134 74348 Lauffen / Neckar Germany +49 (7133) 103-0 [email protected] http://www.schunk.com Version: April 10th, 2008 Cylinder Configuration Encompassing Motion Precision Configuration Parallel Motion Body Data Overall Length 253 mm Finger Length 155 mm Finger Root Distance 66 mm Factor to Human Hand 1.4 : 1 Total Weight 1.95 kg Impermeability (aim) IP 65 Kinematics Number of Fingers 3 DOF (active) total 7 DOF (active) per Finger 2 DOF (active) 2-Finger-Pivot. 1 Motion Data Angular Joint Speed max. 210°/sec Moment (Proximal Joint) 2.1 Nm Moment (Distal Joint) 1.4 Nm Accuracy 0.011° Electronics Voltage 24 V Currency (grasping object) 5 A Communication: CAN / Ethernet / RS232 Sensors Absolute Encoder 7 Tactile Sensor Arrays 6 +90° -90° -90° +90° -90° -90° 0° 0° +90° +90° 0° 0° all axes in zero position 1a 4 3 6 1b 2 7 5

SCHUNK Dextrous Hand 2.0 (SDH 2.0) - NIST

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Page 1: SCHUNK Dextrous Hand 2.0 (SDH 2.0) - NIST

36 mm < b < 205 mm50 mm < Ø < 145 mm80 mm < Ø < 140 mm 17 mm < Ø < 215 mm

Centric ConfigurationEncompassing and Parallel Motion

Modular Fingers2 active dof eachintegrated drives

Pivoting Joints2 fingers

contrarywise1 active dof

Bodyfully integrated control

Tactile Sensor Arrayin each phalanx

ManipulatorInterfaceEN ISO 9404-1-50 Industrial Standard

Modular Jointsdistal joint(middle of finger)

proximal joint(finger root)

SCHUNK Dextrous Hand 2.0 (SDH 2.0)

SCHUNK GmbH & Co. KG

Bahnhofstrasse 106-13474348 Lauffen / NeckarGermany

+49 (7133) [email protected]://www.schunk.com

Version: April 10th, 2008

Cylinder ConfigurationEncompassing Motion

Precision ConfigurationParallel Motion

Body DataOverall Length 253 mmFinger Length 155 mmFinger Root Distance 66 mmFactor to Human Hand 1.4 : 1Total Weight 1.95 kgImpermeability (aim) IP 65

KinematicsNumber of Fingers 3DOF (active) total 7DOF (active) per Finger 2DOF (active) 2-Finger-Pivot. 1

Motion DataAngular Joint Speed max. 210°/secMoment (Proximal Joint) 2.1 NmMoment (Distal Joint) 1.4 NmAccuracy 0.011°

ElectronicsVoltage 24 VCurrency (grasping object) 5 ACommunication: CAN / Ethernet / RS232

SensorsAbsolute Encoder 7Tactile Sensor Arrays 6

+90° -90°-90°

0° 0°

+90°

0°

all a

xes

in z

ero