rh2d:home

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rh2d:home [2019/10/30 12:05] – ↷ Page moved from rh2d_gen1:home to rh2d:home Pedro Ramilorh2d:home [2019/10/30 12:09] (current) Pedro Ramilo
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-===== RH2D Eros Hand =====+===== RH2D Advanced Manipulator =====
  
-''Notice: Preliminary information\\ +''Notice: \\ 
-This page contains the first information about the new RH2D model. Information is being added regularly. If there's any data you need that is not yet covered here, please email support@seedrobotics.com''+This documentation is for Gen2 (the current generation of the RH2D). If you're looking for documentation for the first generation [[rh2d:old_home|see here]]''
  
-The RH2D is an entry level modeldesigned for competition and for applications where the main purpose is to explore and research new techniques: manipulation with tendon based units, grasping with force control based on current sensing (with optional sensors), ...+The RH2D is a lightweight version of the RH4D and is designed with small robot armsbiped humanoid robots and competition where Weight is an important factor.
  
-The architecture of the RH2D is the same as all our units: the latest EROS architecture.\\+It balances reduced weight (175g) with good payload capability (400g). The fingers use tendon tension equalization so that each finger individually conforms to the object being grasped. 
 + 
 +The architecture of the RH2D is the same as all our units: the EROS architecture.\\
 For this reason, most of the Manual details similar instructions. For this reason, most of the Manual details similar instructions.
- 
-However, depending on your version, there may be a special particularity to this unit: it employs the Robotis XL320 Actuators instead of Seed Robotics custom actuators. 
-This results in a **few, but important differences** that are outlined in the page containing the [[rh2d:xl320_controltable|Control Table for the Robotis XL-320 Actuator (used in RH2D)]]. 
  
  
 ==== Getting Started with your Unit ==== ==== Getting Started with your Unit ====
-  * [[rh2d:unpacking_mechanical_assembly|Unpacking and Mechanical Assembly]] [ PLACEHOLDER ] 
   * [[common:connectorpinouts_connectionoptions|Connection Diagrams and Connector Pinouts]]   * [[common:connectorpinouts_connectionoptions|Connection Diagrams and Connector Pinouts]]
  
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   * [[eros:mainboard_ctltable|RH2D Main board Control Table]]   * [[eros:mainboard_ctltable|RH2D Main board Control Table]]
-  * [[rh2d:xl320_controltable|RH2D Actuators Control Table (Robotis XL320)]]+  * [[eros:seedactuators_controltable|RH2D Actuators Control Table]]
   * [[dynamixel:Dynamixel Protocol|Controlling the unit using the Dynamixel Protocol]] (main connector interface)   * [[dynamixel:Dynamixel Protocol|Controlling the unit using the Dynamixel Protocol]] (main connector interface)
   * [[seedstpprotocol:Control_using_stp|Control using the Seed Robotics Simple Text Protocol (STP) and Online Diagnostics and Maintenance]] (USB or Bluetooth interface)   * [[seedstpprotocol:Control_using_stp|Control using the Seed Robotics Simple Text Protocol (STP) and Online Diagnostics and Maintenance]] (USB or Bluetooth interface)
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 ==== Advanced features ==== ==== Advanced features ====
-  * 1023 (10bit) vs 4095 (12bit) position resolution [ NOT YET SUPPORTED IN THE RH2D ] +  * [[specialfeatures:force_controlabstract|Current sensing and Force estimation: how it works and how to take advantage of it]]
-  * [[specialfeatures:force_controlabstract|Current sensing and Force estimation: how it works and how to take advantage of it]]\\ +
-( Please note that Current Sensing is optional in the RH2D. If you require this functionality, please mention it when ordering your unit. )+
  
 ==== APIs and Frameworks ==== ==== APIs and Frameworks ====
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 ==== 3D CAD files ==== ==== 3D CAD files ====
-PLACEHOLDER }+COMING SOON ]
  
 ==== Maintenance ==== ==== Maintenance ====
   * [[eros:upgrademainboard_fw|Upgrading the Main Board firmware]]   * [[eros:upgrademainboard_fw|Upgrading the Main Board firmware]]
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  • rh2d/home.1572437100.txt.gz
  • Last modified: 2019/10/30 12:05
  • by Pedro Ramilo