From 0b4fb52bf901e852d306b5549460c3f456353449 Mon Sep 17 00:00:00 2001 From: Lawproto Date: Tue, 25 Nov 2025 17:43:35 +0100 Subject: [PATCH 1/5] tracking all untracked changes into newborn Mk5.2 hand --- docs/hands/hands_mk5.md | 23 ++++++++- docs/hands/hands_mk5_coupling.md | 77 +++++++++++++++++++++++++++-- docs/hands/img/mk5_2-q2bias.png | Bin 0 -> 84791 bytes docs/hands/img/mk5_2-true-rest.png | Bin 0 -> 95269 bytes docs/hands/img/mk5_2-zero.png | Bin 0 -> 108911 bytes 5 files changed, 94 insertions(+), 6 deletions(-) create mode 100644 docs/hands/img/mk5_2-q2bias.png create mode 100644 docs/hands/img/mk5_2-true-rest.png create mode 100644 docs/hands/img/mk5_2-zero.png diff --git a/docs/hands/hands_mk5.md b/docs/hands/hands_mk5.md index 019dcdada..bc3d9893b 100644 --- a/docs/hands/hands_mk5.md +++ b/docs/hands/hands_mk5.md @@ -1,5 +1,24 @@ # Hand Mk5 joints Specs +## Mk5.2 + +| Joint number | Motors | Identifier | Type | Parent link | Child link | HW lower limit | HW upper limit | SW low. l. | SW upp. l. | Notes | +|--------------|--------|---------------|------|-----------------|-----------------|----------------|----------------|------------|------------|------------| +| | | l_thumb_add | ROT | l_hand_palm | l_hand_thumb_1 | 0° | 100° | | | T1 in fig. | +| | | l_thumb_prox | ROT | l_hand_thumb_1 | l_hand_thumb_2 | 3.63° | 98° | | | T2 in fig. | +| | | l_thumb_dist | ROT | l_hand_thumb_2 | l_hand_thumb_3 | 0° | 101.78° | | | T3 in fig. | +| | | l_index_add | ROT | l_hand_palm | l_hand_index_1 | 0° | 15° | | | I1 in fig. | +| | | l_index_prox | ROT | l_hand_index_1 | l_hand_index_2 | 5.75° | 98° | | | I2 in fig. | +| | | l_index_dist | ROT | l_hand_index_2 | l_hand_index_3 | 0° | 98.35° | | | I3 in fig. | +| | | l_middle_prox | ROT | l_hand_palm | l_hand_middle_1 | 5.75° | 98° | | | M1 in fig. | +| | | l_middle_dist | ROT | l_hand_middle_1 | l_hand_middle_2 | 0° | 98.35° | | | M2 in fig. | +| | | l_ring_prox | ROT | l_hand_palm | l_hand_ring_1 | 5.75° | 98° | | | R1 in fig. | +| | | l_ring_dist | ROT | l_hand_ring_1 | l_hand_ring_2 | 0° | 98.35° | | | R2 in fig. | +| | | l_pinkie_prox | ROT | l_hand_palm | l_hand_pinkie_1 | 3.63° | 98° | | | P1 in fig. | +| | | l_pinkie_dist | ROT | l_hand_pinkie_1 | l_hand_pinkie_2 | 0° | 101.78° | | | P2 in fig. | + +> **Note:** Refer to Mk5.1 image. + ## Mk5.1 | Joint number | Motors | Identifier | Type | Parent link | Child link | HW lower limit | HW upper limit | SW low. l. | SW upp. l. | Notes | @@ -14,14 +33,14 @@ | | | l_middle_dist | ROT | l_hand_middle_1 | l_hand_middle_2 | 0° | 103.1° | | | M2 in fig. | | | | l_ring_prox | ROT | l_hand_palm | l_hand_ring_1 | 0° | 90° | | | R1 in fig. | | | | l_ring_dist | ROT | l_hand_ring_1 | l_hand_ring_2 | 0° | 103.1° | | | R2 in fig. | -| | | l_pinkie_prox | ROT | l_hand_palm | l_hand_pinkie_1 | 0° | 90° | | | P1 in fig. | +| | | l_pinkie_prox | ROT | l_hand_palm | l_hand_pinkie_1 | 0° | 90° | | | P1 in fig. |X | | | l_pinkie_dist | ROT | l_hand_pinkie_1 | l_hand_pinkie_2 | 0° | 98.7° | | | P2 in fig. |

-

+

X

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 +

+ +

+ +

+ +

+ 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 | $x$ 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zXEt-No|ZoQdAnsksGu@Z%f5vr@}y5QYd4V_oK$IgIs#eAy1W{a>%X(dRFuBW*bi56kkkANe^8USkLMzp)X z`+GJxLGjs{La~kiWTToxX$Xg5CWWHFoaM;+2i56v`+92qw$*m&!$zou=Ch5NN;6_X%xEB{G4ENA9$<5UC^gQ_DVva!f;shkwH#;*e7j2b z%O5Oq)kTO^Dc9+_{j<8>SSB9V&8Zp^RpzYra7J4Y0NGWngZ=<8y4;aGKEb7~+R$?| zm4r(yusXUIK6}(0qNh;vxLNXOdp_5;RyU+l{SM#WoOj)iz@9HL2Z;mnp&)ZS!#X3p z*#A|R=Ftqe&Huotm-#~<02I)3X)-IpW8xUi%%_?)!sfc$zF9lW*vth^g8p&-*JvyG zEwCPADTQd@nX65^KVzr9-Jb{Dm55uaPdq)zSFk7ix8r>laJ zJLPFC(b%DVfF!8?UM4{Pr@+77PkP}zZfHsda9`;rIb7Syz#v3c_3qs2kC76$@Yd>v z7|+BfF{A$x?i*LytF->m+EGkc6{Jnte{W2Z|M%ld`TtFTnh>W6?_W|BmsN>f{r?mH izcl_Y#)b&nxj Date: Tue, 25 Nov 2025 17:57:25 +0100 Subject: [PATCH 2/5] Update docs/hands/hands_mk5.md Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com> --- docs/hands/hands_mk5.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/hands/hands_mk5.md b/docs/hands/hands_mk5.md index bc3d9893b..ae804b6c8 100644 --- a/docs/hands/hands_mk5.md +++ b/docs/hands/hands_mk5.md @@ -33,7 +33,7 @@ | | | l_middle_dist | ROT | l_hand_middle_1 | l_hand_middle_2 | 0° | 103.1° | | | M2 in fig. | | | | l_ring_prox | ROT | l_hand_palm | l_hand_ring_1 | 0° | 90° | | | R1 in fig. | | | | l_ring_dist | ROT | l_hand_ring_1 | l_hand_ring_2 | 0° | 103.1° | | | R2 in fig. | -| | | l_pinkie_prox | ROT | l_hand_palm | l_hand_pinkie_1 | 0° | 90° | | | P1 in fig. |X +| | | l_pinkie_prox | ROT | l_hand_palm | l_hand_pinkie_1 | 0° | 90° | | | P1 in fig. | | | | l_pinkie_dist | ROT | l_hand_pinkie_1 | l_hand_pinkie_2 | 0° | 98.7° | | | P2 in fig. |

From 84e02940d6371a62bda1b24ff19ce5b1467302f5 Mon Sep 17 00:00:00 2001 From: Lorenzo Protopapa <84333301+Lawproto@users.noreply.github.com> Date: Tue, 25 Nov 2025 17:57:41 +0100 Subject: [PATCH 3/5] Update docs/hands/hands_mk5_coupling.md Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com> --- docs/hands/hands_mk5_coupling.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/hands/hands_mk5_coupling.md b/docs/hands/hands_mk5_coupling.md index 96216698b..899375f4e 100644 --- a/docs/hands/hands_mk5_coupling.md +++ b/docs/hands/hands_mk5_coupling.md @@ -130,7 +130,7 @@ The following table describes the coupling variables of the finger mechanisms in | $r$ | 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 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, physically 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. From bc633259f92c0e5224e782f7eeec61ebdfe1ac6e Mon Sep 17 00:00:00 2001 From: Lorenzo Protopapa <84333301+Lawproto@users.noreply.github.com> Date: Tue, 25 Nov 2025 17:57:53 +0100 Subject: [PATCH 4/5] Update docs/hands/hands_mk5.md Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com> --- docs/hands/hands_mk5.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/hands/hands_mk5.md b/docs/hands/hands_mk5.md index ae804b6c8..d0ae3e1fd 100644 --- a/docs/hands/hands_mk5.md +++ b/docs/hands/hands_mk5.md @@ -40,7 +40,7 @@ -

X +

Hand Mk5.1 joints

From 3f01b17bec7f1978a9ada02b2358df553457d530 Mon Sep 17 00:00:00 2001 From: Lawproto Date: Wed, 26 Nov 2025 11:15:42 +0100 Subject: [PATCH 5/5] corrections after considering coupling with ring and pinky --- docs/hands/hands_mk5.md | 4 ++-- docs/hands/hands_mk5_coupling.md | 6 ++++-- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/docs/hands/hands_mk5.md b/docs/hands/hands_mk5.md index d0ae3e1fd..1401480c9 100644 --- a/docs/hands/hands_mk5.md +++ b/docs/hands/hands_mk5.md @@ -14,8 +14,8 @@ | | | l_middle_dist | ROT | l_hand_middle_1 | l_hand_middle_2 | 0° | 98.35° | | | M2 in fig. | | | | l_ring_prox | ROT | l_hand_palm | l_hand_ring_1 | 5.75° | 98° | | | R1 in fig. | | | | l_ring_dist | ROT | l_hand_ring_1 | l_hand_ring_2 | 0° | 98.35° | | | R2 in fig. | -| | | l_pinkie_prox | ROT | l_hand_palm | l_hand_pinkie_1 | 3.63° | 98° | | | P1 in fig. | -| | | l_pinkie_dist | ROT | l_hand_pinkie_1 | l_hand_pinkie_2 | 0° | 101.78° | | | P2 in fig. | +| | | l_pinkie_prox | ROT | l_hand_palm | l_hand_pinkie_1 | 5.71° | 98° | | | P1 in fig. | +| | | l_pinkie_dist | ROT | l_hand_pinkie_1 | l_hand_pinkie_2 | 2.78° | 101.78° | | | P2 in fig. | > **Note:** Refer to Mk5.1 image. diff --git a/docs/hands/hands_mk5_coupling.md b/docs/hands/hands_mk5_coupling.md index 899375f4e..576e0e4f0 100644 --- a/docs/hands/hands_mk5_coupling.md +++ b/docs/hands/hands_mk5_coupling.md @@ -117,8 +117,8 @@ The following table describes the coupling variables of the finger mechanisms in | $q_{1max}$ | 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 $q_2$ | +| $q_{1rest}$ | deg | 3.63 | 5.75 | 5.75 | 5.75 | 5.71* | Rest value for $q_1$ (* read note 3) | +| $q_{2rest}$ | deg | 3.63 | 5.75 | 5.75 | 5.75 | 8.49* | Rest value for $q_2$ (* read note 3) | | | | | | | | | | | $k$ | 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 $P_0$ | @@ -134,6 +134,8 @@ The following table describes the coupling variables of the finger mechanisms in > **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. +> **Note 3:** Although the pinky is mechanically identical to the thumb, its rest value depends on the ring which is mechanically coupled to. +