README.md

allegro_hand_hardware

Hardware interface to attach an Allegro Hand v4 to a UR5 arm.

Available files

• Freecad source file : CAD/Allegro_support.FCStd

• Exported .step : CAD/Allegro_support_v1_1.step

• Exported stl : CAD/Allegro_support_v1_1.stl

• Technical drawing : CAD/Allegro_support_v1_1.pdf

About the part

• Machined in aluminium with a CNC.
• Weight: 200g
• Sand blasted for a mat surface finish (to prevent unwanted reflection with our Motion Capture system)
• Price (2024): <200€ from local machinist (Including sand blasting, VAT, shipping, ...). Machinist found from usineur.fr.
• Computed inertial parameters (see compute_inertia.py)

cog_pos = [0, -2.4e-04, 1.5e-02] # m
inertia = [[ 1.0e-04 -1.2e-13  3.5e-13],
           [-1.2e-13  1.0e-04 -4.0e-07],
           [ 3.5e-13 -4.0e-07  1.2e-04]]

Assembly

Requires:

• 4x M6 * 10mm screws
• 6x M3 * 8mm screws