Product Features

1 Product Specifications

Pin sequence description

Pins 1 and 5 connect GND to 24V, Pins 2 and 3 are for controlling IO input, Pins 6 and 7 are for IO output, and Pins No. 4,8 is for 485 communication, which is used for receiving and sending instructions with the dexterous hand

Note:

To ensure the safe operation of the dexterous hand device, please strictly follow the wire labels to distinguish the wire sequence. In case of missing, detached, or forgotten wire labels, please immediately contact the technical team through official channels. If damage occurs due to non-standard operation, our company will bear the corresponding maintenance costs according to the contract terms.

2 Specification parameter table of main controller

3 Python Development

Wiring of USB-485 module:

Connect four wires: 24V, GND, 485_A (T/R+, 485+), and 485_B (T/R-, 485-) to the dexterous hand end. The power supply is a 24V DC regulated power supply. Plug the USB port of the module into the USB interface of the computer

485A connected to 485 to USB converter module A+;
485B connected to 485 to USB converter module B-;
Connect 24V to the positive terminal of a 24V DC regulated power supply GND is connected to the negative terminal of a 24V DC regulated power supply

Driver library installation Click to download the driver library

Installation of serial port dependency libraries

Execute the following command on the computer terminal to install the dependent libraries

pip install pyserial

API Description

get_gripper_firmware_version()

• Function: Obtain the major version number of the gripper firmware
• Parameters: None
• Return: (int) firmware major version number

get_gripper_modified_version()

• Function: Obtain the minor version number of the gripper firmware
• Parameters: None
• Return: (int) firmware minor version number

get_gripper_gripper_Id()

• Function: Obtain gripper ID
• Parameters: None
• Return: (int) gripper ID

get_gripper_gripper_baud()

• Function: Get gripper baud rate
• Parameters: None
• Return: (int) 0-5
  • 0: 115200
  • 1: 1000000
  • 2: 57600
  • 3: 19200
  • 4: 9600
  • 5: 4800

get_gripper_joint_angle(id)

• Function: Obtain current position data information of the gripper
• Parameters: id: (int) gripper joint ID, value range 1-6
• Return: (int) Current position data of the gripper joint ID

get_gripper_status()

• Function: Obtain the current status of the gripper
• Parameters: None
• Return: (int) 0-3
  • 0: Exercising "- 1: Motion stopped, no object detected" "- 2: Stop moving, an object has been detected" "- 3: After detecting the object being clamped, it falls off" 

    get_gripper_joint_speed(id)

    
• Function: Get the current speed of the gripper joint ID
• Parameters: id: (int) gripper joint ID, value range 1-6
• Return: (int) The current speed of the gripper joint ID 

  get_gripper_joint_P(id)

  
• Function: Obtain the P value of the PID for the gripper joint ID
• Parameters: id: (int) gripper joint ID, value range 1-6
• Return: P value of PID for the gripper joint ID, which is an integer 

  get_gripper_joint_I(id)

  
• Function: Obtain the I value of the PID for the gripper joint ID
• Parameters: id: (int) gripper joint ID, value range 1-6
• Return: (int) I value of PID for the gripper joint ID 

  get_gripper_joint_D(id)

  
• Function: Obtain the D value of the PID for the gripper joint ID
• Parameters: id: (int) gripper joint ID, value range 1-6
• Return: D value of PID for the gripper joint ID, which is an integer 

  get_gripper_joint_cw(id)

  
• Function: Obtain the clockwise operable error of the gripper joint ID
• Parameters: id: (int) gripper joint ID, value range 1-6
• Return: (int) Clockwise operational error of the gripper joint ID 

  get_gripper_joint_cww(id)

  
• Function: Obtain the counterclockwise operable error of the gripper joint ID
• Parameters: id: (int) gripper joint ID, value range 1-6
• Return: (int) Counterclockwise operable error of the gripper joint ID 

  get_gripper_joint_mini_pressure(id)

  
• Function: Obtain the minimum activation force for the gripper joint ID
• Parameters: id: (int) gripper joint ID, value range 1-6
• Return: (int) The minimum activation force for the gripper joint ID 

  get_gripper_joint_mini_pressure(id)

  
• Function: Obtain the minimum activation force for the gripper joint ID
• Parameters: id: (int) gripper joint ID, value range 1-6
• Return: (int) The minimum activation force of the gripper joint ID 

  get_gripper_angles()

  
• Function: Obtain the angles of the six joints of the gripper
• Parameters: id: (int) gripper joint ID, value range 1-6
• Return: (list) of angles of the 6 joints of the gripper 

  set_gripper_Id(value)

  
• Function: Set gripper ID number
• Parameters:
  • value: (int) gripper ID, with a value range of 1-254
• Return: (int) 0-1
  • 0: Failure
  • 1: Success 

    set_gripper_baud(value)

    
• Function: Set gripper baud rate
• Parameters:
  • value: (int) gripper baud rate, with a value range of 0-5
    • 0: 115200
    • 1: 1000000
    • 2: 57600
    • 3: 19200
    • 4: 9600
    • 5: 4800
• Return: (int) 0-1
  • 0: Failure
  • 1: Success

set_gripper_enable(value)



• Function: Set the enabling status of the gripper claw
• Parameters:
  • value: (int) enable state, with a value range of 0-1 "- 0: Disable" "- 1: enable"
• Return: (int) 0-1
  • 0: Failure
  • 1: Success  <!-- ### set_gripper_value(value,speed) 
• Function: Set the gripper to rotate to the specified position at a specified speed
• Parameters:
  • value: (int) position, with a value range of 0-100
  • speed: (int) speed, with a value range of 1-100
• Return: (int) 0-1
  • 0: Failure
  • 1: Success --> 

    set_gripper_joint_calibration(id)

    
• Function: Set gripper joint ID zero position calibration
• Parameters: id: (int) gripper joint ID, value range 1-6
• Return: (int) 0-1
  • 0: Failure
  • 1: Success 

    set_gripper_joint_P(id,value)

    
• Function: Set the P value of the PID for the gripper joint ID
• Parameters:
  • id: (int) Joint ID, with a value range of 1-6
  • value: (int) P value, with a value range of 0-254
• Return: (int) 0-1
  • 0: Failure
  • 1: Success 

    set_gripper_joint_I(id,value)

    
• Function: Set the I value of the PID for the gripper joint ID
• Parameters:
  • id: (int) Joint ID, with a value range of 1-6
  • value: (int) I value, with a value range of 0-254
• Return: (int) 0-1
  • 0: Failure
  • 1: Success 

    set_gripper_joint_D(id,value)

    
• Function: Set the D value of the PID for the gripper joint ID
• Parameters:
  • id: (int) Joint ID, with a value range of 1-6
  • value: (int) D value, with a value range of 0-254
• Return: (int) 0-1
  • 0: Failure
  • 1: Success 

    set_gripper_joint_cw(id,value)

    
• Function: Set the clockwise operational error tolerance for the gripper joint ID
• Parameters:
  • id: (int) Joint ID, with a value range of 1-6
  • value: (int) error, with a value range of 0-16
• Return: (int) 0-1
  • 0: Failure
  • 1: Success 

    set_gripper_joint_cww(id,value)

    
• Function: Set the counterclockwise operational error of the gripper joint ID
• Parameters:
  • id: (int) Joint ID, with a value range of 1-6
  • value: (int) Error, with a value range of 0-16
• Return: (int) 0-1
  • 0: Failure
  • 1: Success 

    set_gripper_joint_mini_pressure(id,value)

    
• Function: Set the minimum activation force for the gripper joint ID
• Parameters:
  • id: (int) Joint ID, with a value range of 1-6
  • value: (int) Minimum activation force, with a value range of 0-254
• Return: (int) 0-1
  • 0: Failure
  • 1: Success 

    set_gripper_joint_torque(id,value)

    
• Function: Set the torque of the gripper joint ID
• Parameters:
  • id: (int) Joint ID, with a value range of 1-6
  • value: (int) torque, with a value range of 0-100
• Return: (int) 0-1
  • 0: Failure
  • 1: Success  

    set_gripper_joint_speed(id,speed)

    
• Function: Set the speed of the gripper joint ID
• Parameters:
  • id: (int) Joint ID, with a value range of 1-6
  • speed: (int) speed, with a value range of 1-100
• Return: (int) 0-1
  • 0: Failure
  • 1: Success 

    set_gripper_angles(angles,speed)

    
• Function: Set the full joint angle of the gripper claw
• Parameters:
  • angles: (list) 6 joint angles, with each joint angle having a value range of 0-100
  • speed: (int) speed, with a value range of 1-100
• Return: (int) 0-1
  • 0: Failure
  • 1: Success  

    set_gripper_action(value)

    
• Function: Set the pinching action of the gripper claws
• Parameters:
  • value: (int) action, with a value range of 0-3 "- 0: Index finger and thumb pinched together" "- 1: Pinch the middle finger and thumb together" "- 2: Hold with three fingers" "- 3: Two-finger grip"
• Return: (int) 0-1
  • 0: Failure
  • 1: Success 

    set_gripper_pose(pose,value,flag)

    
• Function: Set the pinching action and opening/closing degree of the gripper claws

• Parameters:

  • pose: (int) action, with a value range of 0-4 "- 0: Return all joints to zero" "- 1: Pinch with index finger and thumb" "- 2: Pinch with the middle finger and thumb" "- 3: Pinch with the middle finger and index finger" "- 4: Three-finger pinch"
  • value: (int) Opening degree, value range 0-15, closing degree, the higher the level, the more closed it is
  • flag: (int) Idle flag. When the flag is set to 1, the idle finger can be freely controlled

• Return: (int) 0-1

  • 0: Failure
  • 1: Success 

    Test program

     

    from MyHand import MyGripper_H100
    import time
    if __name__=="__main__":
    hand=MyGripper_H100("COM8")
    hand.set_gripper_pose(0,0)
    time.sleep(2)
    hand.set_gripper_pose(1,5)
    time.sleep(5)
    hand.set_gripper_pose(2,5)
    time.sleep(5)
    hand.set_gripper_pose(3,5)
    time.sleep(5)
    hand.set_gripper_pose(4,15)
    time.sleep(5)
    hand.set_gripper_pose(0,0)
    time.sleep(2)