Changes between Version 1 and Version 2 of Hand/262/KinematicsJointRangesConversionFactors


Ignore:
Timestamp:
May 17, 2011, 8:52:30 PM (8 years ago)
Author:
edison
Comment:

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  • Hand/262/KinematicsJointRangesConversionFactors

    v1 v2  
    88{{{
    99#!div class="center" align="center"
    10 [[Image(htdocs:bhand/figure29.png)]]
     10[[Image(htdocs:bhand/262/figure29.png)]]
    1111
    1212'''Figure 29 - Barrett's Patented !TorqueSwitch™ Mechanism'''
     
    2222{{{
    2323#!div class="center" align="center"
    24 [[Image(htdocs:bhand/figure30.png)]]
     24[[Image(htdocs:bhand/262/figure30.png)]]
    2525
    2626'''Figure 30 - !TorqueSwitch™ Operation'''
     
    3131{{{
    3232#!div class="center" align="center"
    33 [[Image(htdocs:bhand/figure31.png)]]
     33[[Image(htdocs:bhand/262/figure31.png)]]
    3434
    3535'''Figure 31 - Breakaway Force Curve'''
     
    4040{{{
    4141#!div class="center" align="center"
    42 [[Image(htdocs:bhand/figure32.png)]]
     42[[Image(htdocs:bhand/262/figure32.png)]]
    4343
    4444'''Figure 32 – Stalled FingerTip Force Vs. Commanded Velocity (measured before breakaway).'''
     
    5454{{{
    5555#!div class="center" align="center"
    56 [[Image(htdocs:bhand/figure33.png)]]
     56[[Image(htdocs:bhand/262/figure33.png)]]
    5757
    5858'''Figure 33 - Pinch Grasp Torque'''
     
    6464{{{
    6565#!div class="center" align="center"
    66 [[Image(htdocs:bhand/figure34.png)]]
     66[[Image(htdocs:bhand/262/figure34.png)]]
    6767
    6868'''Figure 34 - Strain Gage Joint-Torque Sensor'''
     
    7373{{{
    7474#!div class="center" align="center"
    75 [[Image(htdocs:bhand/figure35.png)]]
     75[[Image(htdocs:bhand/262/figure35.png)]]
    7676
    7777'''Figure 35 - Strain Gage Torque Curves'''
     
    129129'''Table 8 is a list of the parameter values used to compute the forward kinematic transformation matrices for all of the fingers.'''
    130130
    131 [[Image(htdocs:table8.png)]]
     131[[Image(htdocs:bhand/table8.png)]]
    132132}}}
    133133
     
    136136{{{
    137137#!div class="center" align="center"
    138 [[Image(htdocs:bhand/figure36.png)]]
     138[[Image(htdocs:bhand/262/figure36.png)]]
    139139
    140140'''Figure 36 - !BarrettHand™ in Zero Position'''
     
    145145{{{
    146146#!div class="center" align="center"
    147 [[Image(htdocs:bhand/figure37.png)]]
     147[[Image(htdocs:bhand/262/figure37.png)]]
    148148
    149149'''Figure 37 - D-H Frame Assignment for Generalized Finger '''
     
    151151'''Table 9 - D-H Link Parameters for Fingers'''
    152152
    153 [[Image(htdocs:table9.png)]]
     153[[Image(htdocs:bhand/table9.png)]]
    154154
    155155
     
    259259{{{
    260260#!div class="center" align="center"
    261 [[Image(htdocs:bhand/figure38.png)]]
     261[[Image(htdocs:bhand/262/figure38.png)]]
    262262
    263263'''Figure 38 - Finger Joint Motion Limit Range'''
     
    268268{{{
    269269#!div class="center" align="center"
    270 [[Image(htdocs:bhand/figure39.png)]]
     270[[Image(htdocs:bhand/262/figure39.png)]]
    271271
    272272'''Figure 39 - Spread Joint motion limit Range'''