From 0b4fb52bf901e852d306b5549460c3f456353449 Mon Sep 17 00:00:00 2001
From: Lawproto
-
Hand Mk5.1 joints
diff --git a/docs/hands/hands_mk5_coupling.md b/docs/hands/hands_mk5_coupling.md index deb892010..96216698b 100644 --- a/docs/hands/hands_mk5_coupling.md +++ b/docs/hands/hands_mk5_coupling.md @@ -92,6 +92,75 @@ Hence we get $$q_0 = \frac{r_{mot}}{r} \cdot q_{mot} $$ +## Mk5.2 coupling variables + +The following table describes the coupling variables of the finger mechanisms in the **hand Mk5.2**. + +| Name | UoM | | | Values | | | Description | +|-------------|-----|-----------|-----------|------------|----------|-----------|------------------------------------------------------------------------------------| +| | | **THUMB** | **INDEX** | **MIDDLE** | **RING** | **PINKY** | | +| $L_{0x}$ | mm | -5 | -5 | -5 | -5 | -5 | $x$ coordinate of the first end of the leverism | +| $L_{0y}$ | mm | 4 | 4 | 4 | 4 | 4 | $y$ coordinate of the the first end of the leverism | +| $L_{1x}$ | mm | 29.09 | 34.18 | 34.18 | 34.18 | 29.09 | $x$ coordinate of the second end of the leverism | +| $L_{1y}$ | mm | 0.24 | -0.2 | -0.2 | -0.2 | 0.24 | $y$ coordinate of the second end of the leverism | +| $P_{0x}$ | mm | 0 | 0 | 0 | 0 | 0 | $x$ coordinate of the axis of the joint between ground and the first phalanx (origin) | +| $P_{0y}$ | mm | 0 | 0 | 0 | 0 | 0 | $y$ coordinate of the axis of the joint between ground and the first phalanx (origin) | +| $P_{1x}(0)$ | mm | 35 | 40 | 40 | 40 | 35 | $x$ coordinate of the axis of the joint between the first and the second phalanx | +| $P_{1y}(0)$ | mm | 1.5 | 1.5 | 1.5 | 1.5 | 1.5 | $y$ coordinate of the axis of the joint between the first and the second phalanx | +| | | | | | | | | +| $q_{0off}$ | deg | -97.54 | -97.54 | -97.54 | -97.54 | -97.54 | Angle of $A-C$ when the finger is in the theoretical zero position (read note 1) | +| $q_{2bias}$ | deg | -162.27 | -156.18 | -156.18 | -156.18 | -162.27 | Angle between $L_1-P_1$ and the horizontal of the second phalanx (read note 2) | +| $q_{1off}$ | deg | 2.45 | 2.15 | 2.15 | 2.15 | 2.45 | Angle of $P_1-P_0$ when the finger is in the theoretical zero position | +| $q_{1bias}$ | deg | -90 | -90 | -90 | -90 | -90 | Angle of $B-P_0$ when the finger is in the theoretical zero position | +| | | | | | | | | +| $q_{0max}$ | deg | -6.42 | -6.42 | -6.42 | -6.42 | -6.42 | Max value of $q_0$, i.e. when the finger is fully closed | +| $q_{1max}$ | deg | 98 | 98 | 98 | 98 | 98 | Max value of $q_1$, same as above | +| $q_{2max}$ | deg | 199.77 | 196.35 | 196.35 | 196.35 | 199.77 | Max value of $q_2$, same as above | +| | | | | | | | | +| $q_{1rest}$ | deg | 3.63 | 5.75 | 5.75 | 5.75 | 3.63 | Rest value for $q_1$ | +| $q_{2rest}$ | deg | 3.63 | 5.75 | 5.75 | 5.75 | 3.63 | Rest value for $q_2$ | +| | | | | | | | | +| $k$ | mm | 34.30 | 39.4 | 39.4 | 39.4 | 34.30 | Connecting rod length, $\|L_1-L_0\|$ | +| $d$ | mm | 35.03 | 40.03 | 40.03 | 40.03 | 35.03 | Distance between the two joints, $P_1$ and $P_0$ | +| $l$ | mm | 6.04 | 6.07 | 6.07 | 6.07 | 6.04 | Distance between $L_1$ and $P_1$ | +| $b$ | mm | 6.4 | 6.4 | 6.4 | 6.4 | 6.4 | Distance between $L_0$ and $P_0$ | +| $s$ | mm | 5.5 | 5.5 | 5.5 | 5.5 | 5.5 | Distance between joint $B$ of the connecting rod $A-B$ and joint $P_0$ | +| $t$ | mm | 14.5 | 14.5 | 14.5 | 14.5 | 14.5 | Length of the connecting rod $A-B$ | +| $f$ | mm | 5.5 | 5.5 | 5.5 | 5.5 | 5.5 | Length of the connecting rod $A-C$ | +| $r$ | mm | 8.5 | 8.5 | 8.5 | 8.5 | 8.5 | Length of the connecting rod $D-C$ | +| $r_{mot}$ | mm | 5 | 5 | 5 | 5 | 5 | Distance between the axis of the bushing and the rotational axis of the finger motor | + +> **Note 1:** Version Mk5.2 has shifted the hard stop of the rest position to the last moving phalanx. As a consequence, $q_1$ is non-zero when the hand is at rest. Parameters were measured considering the following, phisically compenetrating position to stay consistent with the reference system adopted until now. The new rest positions for all the fingers have been stored inside $q_{1rest}$, $q_{2rest}$ (see table). + +> **Note 2:** As a consequence of Note 1, $q_{2bias}$ is now better generalised as the angle between $L_1-P_1$ and the horizontal of the second phalanx. This new definition still works with older versions. See image to have a more intuitive notion. + +
+
+
+ Theoretical, unreachable zero for Mk5.2 +
+ +
+
+
+ Actual rest position for Mk5.2 +
+ +
+
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+ Generalised definition for q2bias +
+ ## Mk5.1 coupling variables The following table describes the coupling variables of the finger mechanisms in the **hand Mk5.1**. @@ -103,8 +172,8 @@ The following table describes the coupling variables of the finger mechanisms in | $L_{0y}$ | mm | 4 | 4 | 4 | 4 | 4 | $y$ coordinate of the the first end of the leverism | | $L_{1x}$ | mm | 29 | 34 | 34 | 34 | 29 | $x$ coordinate of the second end of the leverism | | $L_{1y}$ | mm | 0.8 | 0.8 | 0.8 | 0.8 | 0.5 | $y$ coordinate of the second end of the leverism | -| $P_{1x}$ | mm | 35 | 40 | 40 | 40 | 35 | $x$ coordinate of the axis of the joint between the first and the second phalanx | -| $P_{1y}$ | mm | 1.5 | 1.5 | 1.5 | 1.5 | 1.5 | $y$ coordinate of the axis of the joint between the first and the second phalanx | +| $P_{1x}(0)$ | mm | 35 | 40 | 40 | 40 | 35 | $x$ coordinate of the axis of the joint between the first and the second phalanx | +| $P_{1y}(0)$ | mm | 1.5 | 1.5 | 1.5 | 1.5 | 1.5 | $y$ coordinate of the axis of the joint between the first and the second phalanx | | | | | | | | | | | $q_{0off}$ | deg | -97.54 | -97.54 | -97.54 | -97.54 | -97.52 | Angle of $A-C$ when the finger is fully open | | $q_{2bias}$ | deg | -173.35 | -173.35 | -173.35 | -173.35 | -170.53 | Angle of $L_1-P_1$ when the finger is fully open | @@ -137,8 +206,8 @@ The following table describes the coupling variables of the finger mechanisms in | $L_{0y}$ | mm | 2.85 | 4 | 4 | 4 | 4 | $y$ coordinate of the the first end of the leverism | | $L_{1x}$ | mm | 11.5 | 24 | 24 | 24 | 19 | $x$ coordinate of the second end of the leverism | | $L_{1y}$ | mm | 1.5 | 0.8 | 0.8 | 0.8 | 0.5 | $y$ coordinate of the second end of the leverism | -| $P_{1x}$ | mm | 20 | 30 | 30 | 30 | 25 | $x$ coordinate of the axis of the joint between the first and the second phalanx | -| $P_{1y}$ | mm | 1.5 | 1.5 | 1.5 | 1.5 | 1.5 | $y$ coordinate of the axis of the joint between the first and the second phalanx | +| $P_{1x}(0)$ | mm | 20 | 30 | 30 | 30 | 25 | $x$ coordinate of the axis of the joint between the first and the second phalanx | +| $P_{1y}(0)$ | mm | 1.5 | 1.5 | 1.5 | 1.5 | 1.5 | $y$ coordinate of the axis of the joint between the first and the second phalanx | | | | | | | | | | | $q_{0off}$ | deg | -110.71 | -97.54 | -97.54 | -97.54 | -97.54 | Angle of $A-C$ when the finger is fully open | | $q_{2bias}$ | deg | -180 | -173.35 | -173.35 | -173.35 | -170.54 | Angle of $L_1-P_1$ when the finger is fully open | diff --git a/docs/hands/img/mk5_2-q2bias.png b/docs/hands/img/mk5_2-q2bias.png new file mode 100644 index 0000000000000000000000000000000000000000..a32ad785cc8c02d70ceefc16f9ce394a33805f88 GIT binary patch literal 84791 zcmeFZ3s93++b*o7mbSK}^-!t;(ON}3kgA{vBvBF5N(B)x0y)$J1&N&05J^a)QeUcw zcqEEI5Q>3B66GKeNTMR3PzVu{NRWV>NeB_b6UdSMVBh_{U*Fj?|LmD>&%eK!%}mU5 zNLHS;*1higy080MUOM29`ttMTpU;~&@5`Tl+;ec=ypJEuoA*)fr=NgVn8S-5z_n{rHTXjd!ybNeH4HoOO*9Gr4{3mUC+{kl9IK)o8K56O
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