Characteristics And Key Features; Standard Customization - QB Robotics SoftHand2 Research General Manual

12 — DESCRIPTION
The qb SoftHand2 Research does not use Common Industrial Protocols (CIP) or other industrial standards
for I/O communication due to historical design and technical reasons.
I/O data basically refers as measurements from the device, commands to the device, and parameters
from/to the device. These are handled in a custom package format as follows
2-byte — common preamble;
1-byte — target slave id;
1-byte — payload length;
n-byte — payload;
1-byte — checksum for communication integrity.
A custom-made single-master-multiple-slave (SMMS) serial communication protocol is implemented to:
• send commands to the connected devices;
• read measurements from the connected devices (motors position and/or currents);
• get and set configuration parameters.

4.2 Characteristics and key features

• Flexibility, adaptivity and robustness thanks to the soft-robotics design;
• 19 anthropomorphic DOFs controlled in two synergies motion;
• Dislocatable and self-reposition phalanges;
• Up to 50 Nmm manipulating torque*;
• Up to 2.0 kg maximum payload*;
• Maximum closure time of 1.0 s;
• Total weight of 940 g (including aluminium flange and screws);
• ROS packages and general C++ API available;
* Manipulating torque and payloads highly depend on object dimensions and approaching strategy (cf.
Mechanical Characteristics

4.3 Standard customization

• Mechanical flange adapters for non-standard robot flanges;
• Left and Right chirality configurations.
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NOTE:
We may evaluate other customization for special partners; for requests, please contact our
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sales team .
mailto:sales@qbrobotics.com
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GENERAL MANUAL — SEP 8, 2022 — RELEASE: V1.0.2
).
(see Page 6)