Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Wrist section overhaul #328

Merged
merged 5 commits into from
Nov 30, 2023
Merged

Wrist section overhaul #328

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
ca7330a
changes
Lawproto Nov 30, 2023
832e439
image path fix
Lawproto Nov 30, 2023
5966b89
adding note
Lawproto Nov 30, 2023
75b77cd
switching to capital letters for better clarity
Lawproto Nov 30, 2023
f6d25a0
Update docs/wrists/wrist_mk2.md
pattacini Nov 30, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Binary file modified docs/wrists/img/pitches.png
View file
Open in desktop
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Binary file modified docs/wrists/img/wrist-yaw-roll.png
View file
Open in desktop
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
21 changes: 16 additions & 5 deletions docs/wrists/wrist_mk2.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,10 +12,17 @@

| Joint number | Motors | Identifier | Type | Parent link | Child link | Mk2.0 lower limit | Mk2.0 upper limit | Mk2.1 low. l. | Mk2.1 upp. l. | Notes |
|--------------|--------|---------------|------|-------------|-------------|-------------------|-------------------|---------------|---------------|--------------|
| | | l_elbow | ROT | l_upperarm | l_forearm | - | - | - | - | E1 in fig. |
| | | l_wrist_yaw | ROT | l_forearm | l_wrist_1 | -92° | 92° | -92° | 92° | W1 in fig. |
| | | l_wrist_roll | ROT | l_wrist_1 | l_wrist_2 | -62° | 52° | -33° | 40° | W2 in fig. |
| | | l_wrist_pitch | ROT | l_wrist_2 | l_hand_palm | -32° | 32° | -20° | 20° | W3 in fig. |
| | | l_elbow | ROT | l_upperarm | l_forearm | - | - | - | - | E1L in fig. |
| | | l_wrist_yaw | ROT | l_forearm | l_wrist_1 | -92° | 92° | -92° | 92° | W1L in fig. |
| | | l_wrist_roll | ROT | l_wrist_1 | l_wrist_2 | -62° | 52° | -33° | 40° | W2L in fig. |
| | | l_wrist_pitch | ROT | l_wrist_2 | l_hand_palm | -32° | 32° | -20° | 20° | W3L in fig. |
| | | | | | | | | | |
| | | r_elbow | ROT | r_upperarm | r_forearm | - | - | - | - | E1R in fig. |
| | | r_wrist_yaw | ROT | r_forearm | r_wrist_1 | - | - | -92° | 92° | W1R in fig. |
| | | r_wrist_roll | ROT | r_wrist_1 | r_wrist_2 | - | - | -40° | 33° | W2R in fig. |
| | | r_wrist_pitch | ROT | r_wrist_2 | r_hand_palm | - | - | -20° | 20° | W3R in fig. |



<p align="center">
<img src= "../img/pitches.png"
Expand All @@ -33,4 +40,8 @@
</p>
<p align="center">
<sub>Wrist Mk2 and Elbow joints 2/2</sub>
</p>
</p>

!!! note

Rotation signs follow the right-hand rule according to the reference system in the figure.