Hand Mk5 joints Specs

Mk5.3

Joint number	Motors	Identifier	Type	Parent link	Child link	HW lower limit	HW upper limit	SW low. l.	SW upp. l.	Notes
		l_thumb_add	ROT	l_hand_palm	l_hand_thumb_1	0°	100°			T1 in fig.
		l_thumb_prox	ROT	l_hand_thumb_1	l_hand_thumb_2	3.63°	98°			T2 in fig.
		l_thumb_dist	ROT	l_hand_thumb_2	l_hand_thumb_3	0°	101.78°			T3 in fig.
		l_index_add	ROT	l_hand_palm	l_hand_index_1	0°	15°			I1 in fig.
		l_index_prox	ROT	l_hand_index_1	l_hand_index_2	5.75°	98°			I2 in fig.
		l_index_dist	ROT	l_hand_index_2	l_hand_index_3	0°	98.35°			I3 in fig.
		l_middle_prox	ROT	l_hand_palm	l_hand_middle_1	5.75°	98°			M1 in fig.
		l_middle_dist	ROT	l_hand_middle_1	l_hand_middle_2	0°	98.35°			M2 in fig.
		l_ring_prox	ROT	l_hand_palm	l_hand_ring_1	5.75°	98°			R1 in fig.
		l_ring_dist	ROT	l_hand_ring_1	l_hand_ring_2	0°	98.35°			R2 in fig.
		l_pinkie_prox	ROT	l_hand_palm	l_hand_pinkie_1	5.71°	98°			P1 in fig.
		l_pinkie_dist	ROT	l_hand_pinkie_1	l_hand_pinkie_2	2.78°	101.78°			P2 in fig.

_{Hand Mk5.3 joints}

Older versions

Mk5.2

Joint number	Motors	Identifier	Type	Parent link	Child link	HW lower limit	HW upper limit	SW low. l.	SW upp. l.	Notes
		l_thumb_add	ROT	l_hand_palm	l_hand_thumb_1	0°	100°			T1 in fig.
		l_thumb_prox	ROT	l_hand_thumb_1	l_hand_thumb_2	3.63°	90°			T2 in fig.
		l_thumb_dist	ROT	l_hand_thumb_2	l_hand_thumb_3	0°	92.10°			T3 in fig.
		l_index_add	ROT	l_hand_palm	l_hand_index_1	0°	15°			I1 in fig.
		l_index_prox	ROT	l_hand_index_1	l_hand_index_2	5.75°	90°			I2 in fig.
		l_index_dist	ROT	l_hand_index_2	l_hand_index_3	0°	88.82°			I3 in fig.
		l_middle_prox	ROT	l_hand_palm	l_hand_middle_1	5.75°	90°			M1 in fig.
		l_middle_dist	ROT	l_hand_middle_1	l_hand_middle_2	0°	88.82°			M2 in fig.
		l_ring_prox	ROT	l_hand_palm	l_hand_ring_1	5.75°	90°			R1 in fig.
		l_ring_dist	ROT	l_hand_ring_1	l_hand_ring_2	0°	88.82°			R2 in fig.
		l_pinkie_prox	ROT	l_hand_palm	l_hand_pinkie_1	5.71°	90°			P1 in fig.
		l_pinkie_dist	ROT	l_hand_pinkie_1	l_hand_pinkie_2	2.78°	92.10°			P2 in fig.

_{Hand Mk5.2 joints}

Mk5.1

Joint number	Motors	Identifier	Type	Parent link	Child link	HW lower limit	HW upper limit	SW low. l.	SW upp. l.	Notes
		l_thumb_add	ROT	l_hand_palm	l_hand_thumb_1	0°	100°			T1 in fig.
		l_thumb_prox	ROT	l_hand_thumb_1	l_hand_thumb_2	0°	90°			T2 in fig.
		l_thumb_dist	ROT	l_hand_thumb_2	l_hand_thumb_3	0°	101.4°			T3 in fig.
		l_index_add	ROT	l_hand_palm	l_hand_index_1	0°	15°			I1 in fig.
		l_index_prox	ROT	l_hand_index_1	l_hand_index_2	0°	90°			I2 in fig.
		l_index_dist	ROT	l_hand_index_2	l_hand_index_3	0°	103.1°			I3 in fig.
		l_middle_prox	ROT	l_hand_palm	l_hand_middle_1	0°	90°			M1 in fig.
		l_middle_dist	ROT	l_hand_middle_1	l_hand_middle_2	0°	103.1°			M2 in fig.
		l_ring_prox	ROT	l_hand_palm	l_hand_ring_1	0°	90°			R1 in fig.
		l_ring_dist	ROT	l_hand_ring_1	l_hand_ring_2	0°	103.1°			R2 in fig.
		l_pinkie_prox	ROT	l_hand_palm	l_hand_pinkie_1	0°	90°			P1 in fig.
		l_pinkie_dist	ROT	l_hand_pinkie_1	l_hand_pinkie_2	0°	98.7°			P2 in fig.

_{Hand Mk5.1 joints}

Mk5.0

Joint number	Motors	Identifier	Type	Parent link	Child link	HW lower limit	HW upper limit	SW low. l.	SW upp. l.	Notes
		l_thumb_add	ROT	l_hand_palm	l_hand_thumb_1	0°	90°			T1 in fig.
		l_thumb_prox	ROT	l_hand_thumb_1	l_hand_thumb_2	0°	82.1°			T2 in fig.
		l_thumb_dist	ROT	l_hand_thumb_2	l_hand_thumb_3	0°	53.6°			T3 in fig.
		l_index_add	ROT	l_hand_palm	l_hand_index_1	0°	15°			I1 in fig.
		l_index_prox	ROT	l_hand_index_1	l_hand_index_2	0°	90°			I2 in fig.
		l_index_dist	ROT	l_hand_index_2	l_hand_index_3	0°	99.2°			I3 in fig.
		l_middle_prox	ROT	l_hand_palm	l_hand_middle_1	0°	90°			M1 in fig.
		l_middle_dist	ROT	l_hand_middle_1	l_hand_middle_2	0°	99.2°			M2 in fig.
		l_ring_prox	ROT	l_hand_palm	l_hand_ring_1	0°	90°			R1 in fig.
		l_ring_dist	ROT	l_hand_ring_1	l_hand_ring_2	0°	99.2°			R2 in fig.
		l_pinkie_prox	ROT	l_hand_palm	l_hand_pinkie_1	0°	90°			P1 in fig.
		l_pinkie_dist	ROT	l_hand_pinkie_1	l_hand_pinkie_2	0°	93.3°			P2 in fig.

_{Hand Mk5.0 joints}