ORCA Hand v1 Open-Source 17-DOF Dexterous Robot Hand and Components
ORCA Hand v1 Open-Source 17-DOF Dexterous Robot Hand and Components
ORCA Hand
تعذر تحميل مدى توفر الطلب
Overview
The ORCA Hand v1 is an open-source, tendon-driven dexterous robotic hand for manipulation research, robotics education and custom integration. The hand architecture has 17 degrees of freedom: 16 finger joints and one wrist axis. Select an assembled hand, an unassembled package, individual DYNAMIXEL actuators or the starter electronics set from the Package menu. These are different purchase scopes; actuator and electronics options are not complete hands.
Features
- Tendon-driven finger mechanisms with replaceable printed modules and serviceable parts.
- Joint disengagement under overload, automatic calibration and low-friction tendon routing in the ORCA v1 design.
- Open project design supports modification and research; review the project license for any intended commercial use.
- A tactile-sensor configuration appears in design reference material, but tactile sensors are not included in the currently listed standard hand packages.
Configuration Guide
| Package option | What you receive |
|---|---|
| Imported Assembled ORCA Hand | One imported assembled ORCA Hand; the pictured protective case belongs to this package. |
| China-Assembled ORCA Hand | One assembled hand with 16 XC330-T288-T finger actuators, one XC430-T240BB-T wrist actuator, one starter electronics set, one USB-A to micro-USB cable and the assembly auxiliaries used in the hand. |
| Complete Unassembled ORCA Hand Kit | 16 XC330-T288-T actuators, one XC430-T240BB-T actuator, starter electronics set, USB-A to micro-USB cable and mechanical/assembly auxiliaries. Assembly is required. |
| DIY Core Components | 16 XC330-T288-T actuators, one XC430-T240BB-T actuator and one starter electronics set. Structural and other assembly materials must be sourced separately. |
| XC330-T288-T Actuator | One individual XC330-T288-T actuator. |
| XC430-T240BB-T Actuator | One individual XC430-T240BB-T actuator. |
| DYNAMIXEL Starter Set | U2D2, U2D2 PHB and 12 V 5 A power supply; no actuators or hand. |
Specifications
| ORCA Hand v1 | Specification |
|---|---|
| Drive and motion | Tendon drive; 17 DOF (16 finger + 1 wrist) |
| Assembled hand reference size | 34.5 cm high × 12.5 cm wide |
| Assembled hand net mass | 1175 g |
| Current tactile sensors | Not included in standard listed hand packages |
Dimensions and net mass describe the pictured assembled hand, not the individual components or shipping package.
DYNAMIXEL actuator specifications
| Parameter | XC330-T288-T | XC430-T240BB-T |
|---|---|---|
| Motor / resolution | Coreless DC; 4096 pulses/rev | Coreless DC; 4096 pulses/rev |
| Gear ratio | 288.35:1 | 245.22:1 |
| Dimensions / mass | 20 × 34 × 26 mm; 23 g | 28.5 × 46.5 × 34 mm; 65 g |
| Input / recommended voltage | 6.5–12 V / 11.1 V | 6.5–14.8 V / 12 V |
| Operating temperature | −5 to 70 °C | −5 to 80 °C |
| Standby current | 17 mA | 46 mA |
| Stall torque at 9 / 11.1 / 12 V | 0.76 / 0.92 / 1.00 N·m | 1.4 / 1.7 / 1.9 N·m |
| Stall current at 9 / 11.1 / 12 V | 0.61 / 0.80 / 0.88 A | 1.1 / 1.3 / 1.4 A |
| No-load speed at 9 / 11.1 / 12 V | 52 / 65 / 71 rpm | 52 / 65 / 70 rpm |
Stall figures are momentary actuator test points, not continuous hand payload or operating ratings. XC330 operating modes: current, velocity, position (0–360°), extended position, current-based position and PWM. XC430 modes: velocity, position, extended position and PWM. The XC330 uses engineering-plastic housing and all-metal gears. Power and communication wiring must suit the selected actuator and controller.
Applications
Use the assembled hand or appropriate kit in robotic grasping experiments, learning-based manipulation, teleoperation research and custom robot-arm integration. The project demonstrates research grasping and simulation-to-real experiments; the pictured robot arms, VR devices and test fixtures are not included. Programming, mechanical mounting, control integration and task-specific testing are the user's responsibility.
What's Included
The Configuration Guide defines each actual package. The assembled China package and complete kit include 16 XC330-T288-T units, one XC430-T240BB-T unit, U2D2 + U2D2 PHB + 12 V 5 A supply, a USB-A to micro-USB cable, and relevant auxiliaries such as fan, bearings, magnets, dowel pins, capillary tubes, threaded rods, screws, nuts, drive belt, washers, silicone adhesive and tendon cord. The DIY core option omits those additional structural and assembly materials. Verify the required hand orientation during your assembly plan; left and right are not separate purchase options on this listing.
FAQ
Does the DIY Core Components option make a complete hand?
No. It supplies the 17 actuators and starter electronics; other assembly materials are separate.
Does the Starter Set include any actuators?
No. It contains U2D2, U2D2 PHB and a 12 V 5 A power supply.
Are tactile sensors included?
No. The tactile version shown in some project design material is a future or optional reference, not the current standard hand package.
Is robot-arm control plug and play?
No. Provide the mounting, programming, control and task-specific integration for your system.
Project documentation: ORCA Hand. Review its current license before reuse or redistribution.
Visual Details
