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5 % qji_k is a vector expressing the anchor point of reference
6 % frame i with respect to reference frame k of finger j.
7 % if k is not given, it means it is respect to the palm,
8 % which in our case, it is the absoulute one.
28 % These anchor points can be seen as the length of the phalanges,
29 % but that is because the phalanges are aligned with this vectors.
71 % We can symmetrically enlarge the ranges for the joints so that
72 % the hand can better manipulate objects without regrasping.
73 % Set to zero to use the original ranges
74 enlarge_range := 20*pi/180
77 % Two ranges for the universal joint connecting the palm and finger 2
79 phi_2_1_min:= -pi/8 -enlarge_range
80 phi_2_1_max:= pi/8 +enlarge_range
83 phi_2_2_min:= 0 -enlarge_range
84 phi_2_2_max:= pi/2 +enlarge_range
86 % Range for the first rotation in finger 2
88 phi_2_3_min:= 0 -enlarge_range
89 phi_2_3_max:= pi/2 +enlarge_range
91 % Range for the second rotation in finger 2
93 phi_2_4_min:= 0 -enlarge_range
94 phi_2_4_max:= pi/2 +enlarge_range
96 % Two ranges for the universal joint connecting the palm and finger 3
98 phi_3_1_min:= -pi/8 -enlarge_range
99 phi_3_1_max:= pi/8 +enlarge_range
102 phi_3_2_min:= 0 -enlarge_range
103 phi_3_2_max:= pi/2 +enlarge_range
105 % Range for the first rotation in finger 3
107 phi_3_3_min:= 0 -enlarge_range
108 phi_3_3_max:= pi/2 +enlarge_range
110 % Range for the second rotation in finger 3
112 phi_3_4_min:= 0 -enlarge_range
113 phi_3_4_max:= pi/2 +enlarge_range
115 % Two ranges for the universal joint connecting the palm and finger 4
117 phi_4_0_min:= 0 -enlarge_range
118 phi_4_0_max:= pi/2 +enlarge_range
121 phi_4_1_min:= -pi/8 -enlarge_range
122 phi_4_1_max:= pi/8 +enlarge_range
125 phi_4_2_min:= 0 -enlarge_range
126 phi_4_2_max:= pi/2 +enlarge_range
128 % Range for the first rotation in finger 4
130 phi_4_3_min:= 0 -enlarge_range
131 phi_4_3_max:= pi/2 +enlarge_range
133 % Range for the second rotation in finger 4
135 phi_4_4_min:= 0 -enlarge_range
136 phi_4_4_max:= pi/2 +enlarge_range
138 %-------------------------------------------------------------------
139 %--------------------------------------------------------------------
144 palm:body "bodies/palmSAH.off" white
145 body "bodies/acs1palm.off" blue
146 body "bodies/acs2palm.off" blue
147 body "bodies/acs3palm.off"
150 body "bodies/p1_fix.off" white
151 body "bodies/p2_fix.off" white
152 body "bodies/b2_fix.off" blue
153 body "bodies/p3_fix.off" white
154 body "bodies/p4_fix.off" white
155 body "bodies/b4_fix.off" blue
158 p22: body "bodies/p1.off" white
159 body "bodies/p2.off" white
160 body "bodies/b2.off" blue
162 p23: body "bodies/p3.off" white
164 p24: body "bodies/p4.off" white
165 body "bodies/b4.off" blue
168 p32: body "bodies/p1.off" white
169 body "bodies/p2.off" white
170 body "bodies/b2.off" blue
172 p33: body "bodies/p3.off" white
174 p34: body "bodies/p4.off" white
175 body "bodies/b4.off" blue
178 p40: body "bodies/p0thumb.off" white
180 p42: body "bodies/p1.off" white
181 body "bodies/p2.off" white
182 body "bodies/b2.off" blue
184 p43: body "bodies/p3.off" white
186 p44: body "bodies/p4.off" white
187 body "bodies/b4.off" blue
190 tornavis2 - body "bodies/tornavis.off" white
193 p25: sphere 0.5 (0,0,0) green
198 universal: palm (q21x,q21y,q21z)+(1,0,0)
200 range [phi_2_1_min,phi_2_1_max] +(0,1,0)
201 [phi_2_2_min,phi_2_2_max] +(0,0,1)
203 revolute: p22 (q23x_2,q23y_2,q23z_2)+(0,-1,0)
205 range [phi_2_3_min,phi_2_3_max] +(1,0,0) +(1,0,0)
207 revolute: p23 (q24x_3,q24y_3,q24z_3)+(0,-1,0)
209 range [phi_2_4_min,phi_2_4_max] +(1,0,0) +(1,0,0)
212 universal: palm (q31x,q31y,q31z)+(1,0,0)
214 range [phi_3_1_min,phi_3_1_max] +(0,0.99937,0.035485)
215 [phi_3_2_min,phi_3_2_max] +(0,0,1)
217 revolute: p32 (q33x_2,q33y_2,q33z_2)+(0,-1,0)
219 range [phi_3_3_min,phi_3_3_max] +(1,0,0) +(1,0,0)
221 revolute: p33 (q34x_3,q34y_3,q34z_3)+(0,-1,0)
223 range [phi_3_4_min,phi_3_4_max] +(1,0,0) +(1,0,0)
226 revolute: palm (q40x,q40y,q40z)+(0,0,-1)
228 range [phi_4_0_min,phi_4_0_max] +(0,-1,0) +(0,0,1)
230 universal: p40 (q41x_0,q41y_0,q41z_0) +(0.573580,0,0.81915)
232 range [phi_4_1_min,phi_4_1_max] +(0,-1,0)
233 [phi_4_2_min,phi_4_2_max] +(0,0,1)
235 revolute: p42 (q43x_2,q43y_2,q43z_2)+(0,-1,0)
237 range [phi_4_3_min,phi_4_3_max] +(1,0,0) +(1,0,0)
239 revolute: p43 (q44x_3,q44y_3,q44z_3)+(0,-1,0)
241 range [phi_4_4_min,phi_4_4_max] +(1,0,0) +(1,0,0)
243 % contact joints (after the hand joints)
245 prismatic: p24 (0,-14.5,0)+(0.998752338877845,0.049937616943892,0)
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