The Seed Robotics SR-RH4D (formerly the SR-DH4D) Hand is an under actuated, advanced Robotic Hand, offering 11DoF total with 4 actuated DoF (using 4 smart actuators).

The hand uses the latest EROS Architecture for electronics and software comprised of one main processor - ARM Cortex M4 - and 4x dedicated ATMEGA processors (one on each smart actuator), for distributed and scalable processing of low level motion control.

The unit is capable of receiving commands simultaneously from multiple interfaces: main connector (RS485 or TTL), USB and optionally Bluetooth.

To control the unit and query its status, the unit exposes Control Tables (a memory-mapped kind of abstraction) where you can write to specific addresses to control the unit or read from other addresses to get real time status information.
A full query cycle usually takes less than 5ms (average 3ms), enabling closed loop control frequencies of up to 200~250 Hz.

Reading and writing the control table is done using the Robotis Dynamixel Protocol (a Serial protocol) or through the Seed Robotics own Text protocol.
Users of Robotis products should also know that the Control table works under the Dynamixel 1.0 protocol (AX, MX series) and optionally under the Dynamixel 2 protocol, for compatibility with the Robotis XM and Pro series.
Such flexibility makes the units directly compatible with Robotis Dynamixel based assemblies and frameworks such as Robotis OP/OP2 Framework, Dynamixel SDK, ROS, PyPot and others.

NOTICE: Change from the Ares to Eros Architecture

As of March 1st 2017, we began shipping the RH4D with the new, scalable Eros Architecture.
While the external interfaces remain mostly the same, the new architecture scales much better and makes a better distribution of processor load for improved performance.

Information about the transition is available in the document EROS vs ARES architecture: What's new and What's changed. In the interest of organization, we have moved the documentation related to the old Architecture (ARES) to a separate, legacy section.

Getting Started

Command and Control Architecture

The Console

EROS units expose a Serial Console through which you can perform a number of queries, obtain real time diagnostics and also control the unit.

By default the firmware exposes the Serial Console on the USB Virtual Serial Port and on the Bluetooth interface (if optionally installed).
Use of the Console can be done simultaneously while controlling your unit through the main connector and while connected to your robot. This enables real time diagnostics and online application of corrective measures.

Special configuration features

Robots and Frameworks

In-depth information

3D CAD Files

Legal notice: Seed Robotics makes the 3D CAD files available to its customers only (entities who have purchased or ordered Seed Robotics products), for the sole purposes of building simulations and assessing dimensions and mechanical characteristics.
Seed Robotics retains all Copyrights and Intellectual property rights pertaining to the material hereby being distributed and does not make any warranty as to its accuracy or fitness for purpose. The publishing of this material, does not constitute a waiver of any of Seed Robotics copyrights and intellectual property rights and does not grant the user any distribution, transfer, ownership or any other rights other than ones explicitly authorized in this notice.

Troubleshooting

Maintenance

Please note: [ Placeholder ] sections are either Beta or currently in the process of migration from paper form to our Knowledge Base. If you require any of this information while we build the Knowledge Base, please contact our technical support by email.

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