Dimensions

Kinematics

Finger

Naming and angle conventions

The three fingers are named F0, F1, and F2 (see 4.2 Kinematics) and the three finger joints are: base rotation (sideways movement), proximal (middle section), and distal (fingertip). Joints are numbered from 0, starting at the base (See diagram above).

Joint Ranges

Joint(s)	Min deg	Max deg	Min rad	Max rad
J0	-45	45	-0.785	0.785
J1	-80	60	-1.396	1.047
J2	-60	80	-1.047	1.396