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Linkerbot L20 & L20 Lite

The Linkerbot L20 and L20 Lite are research-grade dexterous robotic hands designed for advanced manipulation tasks, offering a balance of high degrees of freedom (DOF) and robust linkage-driven kinematics. Built by Stonedrum Robotics, the L20 series is tailored for research laboratories and educational institutions requiring precision grasping, human-like dexterity, and seamless ROS compatibility. The self-developed linkage transmission ensures high rigidity and strong grip force, making it suitable for both complex research experiments and demanding manipulation use cases where tendon-driven systems might lack the required durability.

Specifications

Model DOF Drive Weight Max Load Interface Primary Use
L20 Lite 20 (10+10) Linkage 800g 25kg CAN/RS485 + ROS Research entry, education
L20 21 (16+5) Linkage 1100g 10kg CAN/RS485 Research flagship

Note: Both models achieve ±0.20mm repositioning accuracy.

Pinout Diagram

Linkerbot L20 / L20 Lite Connector Pinout
┌─────────────────────────────────┐
│ Pin 1: Power (V+)               │
│ Pin 2: Ground (GND)             │
│ Pin 3: CAN_H / RS485_A          │
│ Pin 4: CAN_L / RS485_B          │
│ Pin 5: Signal GND               │
│ Pin 6: Shield                   │
│ Pin 7-8: [VENDOR_SPEC_REQUIRED] │
└─────────────────────────────────┘
* Exact voltage, current, fuse, and inrush values are [VENDOR_SPEC_REQUIRED].

Communication Protocol

The L20 and L20 Lite support both CAN and RS-485 interfaces. - CAN: Operates at 1Mbps using a proprietary protocol. - RS-485: Operates at 115200–256000 bps using Modbus. Select the appropriate communication interface based on your controller setup. Both interfaces are fully integrated into the ROS 2 environment provided by the SDK.

Mounting Interface

The mechanical interface requires an adapter plate to mount the hand to standard robot flanges (e.g., ISO 9409-1-50-4-M6). The Linkerbot-side bolt circle, dowel locations, and wrist orientation are [VENDOR_SPEC_REQUIRED] and must be referenced from the official mechanical drawings. Ensure the mounting plate is rigid and features a clocking mark to reproduce the hand frame if removed.

Safety Limits

  • Do not exceed the maximum load limits specified above.
  • Always operate the hand within the defined input voltage and current specifications ([VENDOR_SPEC_REQUIRED]).
  • Ensure the communication cable bundle does not tighten or rub during full wrist motion.
  • Implement external emergency stops as required by your lab's safety protocol.

CE Note: CE certification status is currently under verification — contact info@stonedrum.co for compliance documentation.