🤚PND Dexterous hands

Adam can be equipped with self-developed humanoid five-fingered dexterous hand. This dexterous hand has 6 degrees of freedom and 12 moving joints, and can simulate human hands to achieve complex actions.

🕹️Control method

The official dexterous hand defaults to using serial port/485 communication for control. Adam will use a passthrough module to convert it to Ethernet protocol, making it a node sub-device of Adam, facilitating Ethernet operations such as tcp/udp and better integrating into the Adam robot ecosystem.

• Communication process: udp/tcp <-> serial port <-> 485 <-> hand.

The following control example uses udp to control five fingers.

id	0	1	2	3	4	5
Joint	pinky	ring	middle	index	thumb-bend	thumb-rotation

The above id corresponds to the control of each finger and corresponds to the numerical input order of the write6 function in the following demo.

🐍Python demo

import pnd_hand

import time
import socket
import threading
import signal
import sys

global port
port = 2562

global addr_l,addr_r
addr_l = '10.10.10.18'
addr_r = '10.10.10.38'
global sok_l,sok_r

def ctrl_one(id):
    global sok_l,sok_r
    global port
    global addr_l,addr_r

    sbytes = pnd_hand.hand_ctrl_pack([2000],[id])
    sok_l.sendto(bytes(sbytes),(addr_l,port))
    sok_r.sendto(bytes(sbytes),(addr_r,port))

    time.sleep(1)

    sbytes = pnd_hand.hand_ctrl_pack([0],[id])
    sok_l.sendto(bytes(sbytes),(addr_l,port))
    sok_r.sendto(bytes(sbytes),(addr_r,port))

    time.sleep(1)

def ctrl():
    global sok_l,sok_r
    global port
    global addr_l,addr_r


    # sbytes = pnd_hand.hand_ctrl_pack([200],[id])
    # sok_l.sendto(bytes(sbytes),(addr_l,port))
    # sok_r.sendto(bytes(sbytes),(addr_r,port))

    # time.sleep(1)

    # sbytes = pnd_hand.hand_ctrl_pack([0],[id])
    # sok_l.sendto(bytes(sbytes),(addr_l,port))
    # sok_r.sendto(bytes(sbytes),(addr_r,port))

    sbytes = pnd_hand.hand_ctrl_pack([0,0,0,0,0,0])

    sok_l.sendto(bytes(sbytes),(addr_l,port))
    sok_r.sendto(bytes(sbytes),(addr_r,port))
    time.sleep(0.8)

    sbytes = pnd_hand.hand_ctrl_pack([1900,1900,1900,1900,0,0])

    sok_l.sendto(bytes(sbytes),(addr_l,port))
    sok_r.sendto(bytes(sbytes),(addr_r,port))
    time.sleep(0.8)

    sbytes = pnd_hand.hand_ctrl_pack([0,0,0,0,0,0])

    sok_l.sendto(bytes(sbytes),(addr_l,port))
    sok_r.sendto(bytes(sbytes),(addr_r,port))
    time.sleep(0.8)

    sbytes = pnd_hand.hand_ctrl_pack([0,0,0,0,1900,1900])

    sok_l.sendto(bytes(sbytes),(addr_l,port))
    sok_r.sendto(bytes(sbytes),(addr_r,port))
    time.sleep(0.8)

    # sbytes = pnd_hand.hand_ctrl_pack([0,0,0,0,0,0])

    # sok_l.sendto(bytes(sbytes),(addr_l,port))
    # sok_r.sendto(bytes(sbytes),(addr_r,port))
    # time.sleep(0.5)

sok_l = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sok_l.settimeout(1)
sok_r = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sok_r.settimeout(1)
# change_id(2,4)
# ctrl()
# get_id()
while True:
    ctrl()
    # for i in range(6):
    #     ctrl_one(i+1)