灵巧手3 个配置
orcahand
型号：orcahand v2.1 base
ORCA Dexterity 当前平台包括正在交付的 orcahand v2.1 base、带触觉的 orcahand v2.0 touch，以及作为 legacy/community 项目的 orcahand lite 自制版。17 自由度 base 的 Feetech / Dynamixel 成品价分别为 3,500 / 4,500 美元；17 自由度 touch 分别为 6,100 / 7,100 美元，并增加 351 个霍尔效应 taxel，每个输出六维力/力矩数据。两款共享开源机械平台，但 touch 的触觉模块为专有模块。Lite 通过耦合肌腱实现 9 自由度，其低于 900 美元的是自行采购 BOM，而非装配成品售价。当前 v2 base/touch 共享 ISO 9409-1 安装接口、USB/Python orca_core 控制和双风扇散热。
参考价格
Feetech US$3,500；Dynamixel US$4,500（装配成品）
配置对比
| 参数 | orcahand v2.1 base | orcahand v2.0 touch | orcahand lite |
|---|---|---|---|
| 价格 | Feetech US$3,500；Dynamixel US$4,500（装配成品） | Feetech US$6,100；Dynamixel US$7,100（装配成品） | 自制 BOM 低于 US$900（非装配成品售价） |
| communication | USB-C to PC; open-source orca_core Python control | USB-C to PC; open-source orca_core Python control | USB to PC; open-source orca_core Python control |
| 交付阶段 | shipping | shipping | discontinued |
| expansion-backplane | ISO 9409-1-50-4-M6 mounting interface; USB data connection | ISO 9409-1-50-4-M6 mounting interface; USB data connection | ISO 9409-1 mechanical mounting interface; USB data connection |
| joint-type | Tendon-driven; 16 finger joints plus one wrist independently actuated | Tendon-driven; 16 finger joints plus one wrist independently actuated | Coupled tendon drive; MCP/PIP flexion coupled per finger and shared abduction actuation |
| material | 3D-printed components with silicone skin and metal/PTFE tendon routing | 3D-printed components with silicone skin and metal/PTFE tendon routing | 3D-printed components with silicone skin |
| open-source | true | false | true |
| positioning | Open-source dexterous-manipulation and robot-learning platform | Contact-rich manipulation and advanced tactile robot-learning research | Legacy/community self-build for grasping, demonstrations and low-cost experiments |
| sdk | Open-source orca_core Python control library; URDF, MuJoCo and simulation resources | Open-source orca_core Python control; proprietary tactile sensing module | Open-source orca_core Python control library |
| sensors | No tactile sensing in base configuration; joint-position sensing is an optional upgrade | 351 Hall-effect taxels across five digits; each taxel outputs 6D force/torque; 51–83 taxels per finger | No tactile sensing in standard configuration |
| 总自由度 | 17 DOF | 17 DOF | 9 DOF |
| 整机重量 | — | 1.25 kg | — |
关键参数
总自由度
17 DOF
价格
Feetech US$3,500；Dynamixel US$4,500（装配成品）
交付阶段
可交付
查看来源
orcahand.com
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