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°
+90° -90°-90°
0° 0°
+90°
+90°
0°
0°
all a
xes
in z
ero
posi
tion
1a4
3
6
1b2
7
5
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