Diagrams#

Joint Indexes#

Joint Indexes (CAN bus)	Joint Indexes (YARP ports)

Joint Directions of Rotation#

Joint Directions of Rotation

DH Coordinate Systems#

Link Lengths#

Link Names#

graph TD

%% head and some trunk
FrontalNeck[FrontalNeck]
AxialNeck[AxialNeck]
FrontalNeck-->|FrontalNeck| AxialNeck

FrontalTrunk[FrontalTrunk]
AxialNeck-->|AxialNeck|FrontalTrunk


%% rightArm
FrontalRightShoulder[FrontalRightShoulder]
FrontalTrunk-->|FrontalRightShoulder|FrontalRightShoulder

SagittalRightShoulder[SagittalRightShoulder]
FrontalRightShoulder-->|SagittalRightShoulder|SagittalRightShoulder

AxialRightShoulder[AxialRightShoulder]
SagittalRightShoulder-->|AxialRightShoulder|AxialRightShoulder

FrontalRightElbow[FrontalRightElbow]
AxialRightShoulder-->|FrontalRightElbow|FrontalRightElbow

AxialRightWrist[AxialRightWrist]
FrontalRightElbow-->|AxialRightWrist|AxialRightWrist

FrontalRightWrist[FrontalRightWrist]
AxialRightWrist-->|FrontalRightWrist|FrontalRightWrist


%% more trunk
AxialTrunk[AxialTrunk]
FrontalTrunk-->|FrontalTrunk|AxialTrunk

Root[Root]
AxialTrunk-->|AxialTrunk|Root


%% rightLeg
AxialRightHip[AxialRightHip]
Root-->|AxialRightHip|AxialRightHip

SagittalRightHip[SagittalRightHip]
AxialRightHip-->|SagittalRightHip|SagittalRightHip

FrontalRightHip[FrontalRightHip]
SagittalRightHip-->|FrontalRightHip|FrontalRightHip

FrontalRightKnee[FrontalRightKnee]
FrontalRightHip-->|FrontalRightKnee|FrontalRightKnee

FrontalRightAnkle[FrontalRightAnkle]
FrontalRightKnee-->|FrontalRightAnkle|FrontalRightAnkle

SagittalRightAnkle[SagittalRightAnkle]
FrontalRightAnkle-->|SagittalRightAnkle|SagittalRightAnkle


%% leftLeg
AxialLeftHip[AxialLeftHip]
Root-->|AxialLeftHip|AxialLeftHip

SagittalLeftHip[SagittalLeftHip]
AxialLeftHip-->|SagittalLeftHip|SagittalLeftHip

FrontalLeftHip[FrontalLeftHip]
SagittalLeftHip-->|FrontalLeftHip|FrontalLeftHip

FrontalLeftKnee[FrontalLeftKnee]
FrontalLeftHip-->|FrontalLeftKnee|FrontalLeftKnee

FrontalLeftAnkle[FrontalLeftAnkle]
FrontalLeftKnee-->|FrontalLeftAnkle|FrontalLeftAnkle

SagittalLeftAnkle[SagittalLeftAnkle]
FrontalLeftAnkle-->|SagittalLeftAnkle|SagittalLeftAnkle


%% leftArm
FrontalLeftShoulder[FrontalLeftShoulder]
FrontalTrunk-->|FrontalLeftShoulder|FrontalLeftShoulder

SagittalLeftShoulder[SagittalLeftShoulder]
FrontalLeftShoulder-->|SagittalLeftShoulder|SagittalLeftShoulder

AxialLeftShoulder[AxialLeftShoulder]
SagittalLeftShoulder-->|AxialLeftShoulder|AxialLeftShoulder

FrontalLeftElbow[FrontalLeftElbow]
AxialLeftShoulder-->|FrontalLeftElbow|FrontalLeftElbow

AxialLeftWrist[AxialLeftWrist]
FrontalLeftElbow-->|AxialLeftWrist|AxialLeftWrist

FrontalLeftWrist[FrontalLeftWrist]
AxialLeftWrist-->|FrontalLeftWrist|FrontalLeftWrist

teo-link-names.pdf

COGs#

COGs

F/T sensors#

F/T sensors (Ports, channels and coordinate systems)#

F/T sensors (Ports and channels)

F/T sensors (Mechanical)#

Jr3 50M31 corregido.pdf

Lacquey Fetch#

This sketches were made with SolidWorks in order to provide the position of the next joints, in this case the fingers from the origin of the hand, not to provide detailed mechanical annotations for the hand.

Lacquey Fetch (Hand)#

fetch-hand.pdf

Lacquey Fetch (Proximal Falange)#

fetch-proximal-falange.pdf