Collaborative Robot End Effector

K3HAND A more dexterous 
collaborative robot for 
more human-like movement
K3HAND A more dexterous 
collaborative robot for 
more human-like movement

In recent years, the number of collaborative robots that work alongside people in areas such as physicochemical experiments, assembly, the food industry, etc. has rapidly increased. Cooperative robots are required to be smaller and lighter in order to save space and make installation easier, and dexterous robot end effectors are necessary for them to perform various tasks.
As a solution, we have launched a the "K3 hand" for a cooperative robot, so named for the three characteristics it boasts: kiyō (dexterity), kogata (compact size), and keiryō (light-weight).
It uses our original compact servo with non-contact output shaft encoder and clutch mechanism mounted on each active joint. It demonstrates dexterity with multiple fingers / wide motion range of movement, fitting grip mechanism, and finger adduction/abduction while still being small and light-weight. Additionally, the clutch mechanism provides safety, preventing injury in the event of impact with a human.
The K3 hand can handle a wide variety of tasks, and fingertips can be changed out according to need. The hand can perform tasks that require dexterity, such as grasping items of varying shapes, positions, and softness.
By evenly arranging three or more fingers, an item being grasped is automatically pulled to the center of the palm, meaning that even if the hand and item are misaligned, or the item is positioned roughly, the hand can still secure a grip on it.
The common goal of our robot hand is to achieve human-like motion. The shift from manual work to automation is close at hand. Adamant Namiki Precision Jewel Co., Ltd. will continue to contribute to future robots.

Features

1. Dexterity=human-like =multiple fingers/multiple joints

wide motion range can hold irregularly-shaped objects in a variety of positions.
2.Compact / Light-weight (weight 323g)

Compatible with small cooperative robot arm (loading weight ~ 500 g), payload up to 100g. Attachable to DENSO WAVE’s collaborative robot, COBOTTA
3. Safety
=equipped with clutches, edgeless design Shock absorption in case of collision with a person.

Specifications

Max length (fully extended) 290mm Max articulation speed 0.3sec (90°)
Weight 323g Safety measures Clutch disconnect when following loads are applied to fingertip:
Thumb (‘clever’ finger)…bending:1.8N
adduction/abduction:1.4N
Standard fingers…bending:2.2N
adduction/abduction:2.0N
Fingers 3
Degrees of freedom Total:8DOF
Thumb (‘clever’ finger):4DOF
Standard fingers:2DOF
※Standard fingers→Fitting grip mechanism
Control method Command control
Max fingertip force   Standard fingersThumb (‘clever’ finger) Communication Connection1: COBOTTA communication
Connection 2: UART
Adduction/
Abduction
1.2N 0.9N Voltage DC24V
Flexion 1.4N 1.3N Feedback signal Servo output angle
Motor current
Max weight capacity 100g
Max length (fully extended) 290mm
Weight 323g
Fingers 3
Degrees of freedom Total:8DOF
Thumb (‘clever’ finger):4DOF
Standard fingers:2DOF
※Standard fingers→Fitting grip mechanism
Max fingertip force Standard fingers Adduction/Abduction:1.2N Flexion:1.4NThumb (‘clever’ finger) Adduction/Abduction:0.9N Flexion:1.3N
Max weight capacity 100g
Max articulation speed 0.3sec (90°)
Safety measures Clutch disconnect when following loads are applied to fingertip:
Thumb (‘clever’ finger)…bending:1.8N
adduction/abduction:1.4N
Standard fingers…bending:2.2N
adduction/abduction:2.0N
Control method Command control
Communication Connection1: COBOTTA communication
Connection 2: UART
Voltage DC24V
Feedback signal Servo output angle
Motor current

Demo at the ROBODEX 2019 expo


Dimensions / Range of Motion

【Range of motion】

    Thumb (‘clever’ finger) Standard fingers
1st joint adduction/abduction -90~90° 0~120°
2nd joint Flexion -50~130° 0~120°
3rd joint Flexion -90~90° 0~90°
4th joint Flexion(Fingertip) -90~90° 0~90°

Composition

Fingertips can be changed according to task

System

*"COBOTTA" is a registered trademark of DENSO CORPORATION.

Inquiry
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