Changes between Initial Version and Version 1 of Hand/262/Specifications:MotorsMaterialsPower


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Timestamp:
May 12, 2011, 3:44:53 PM (8 years ago)
Author:
edison
Comment:

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  • Hand/262/Specifications:MotorsMaterialsPower

    v1 v1  
     1= BarrettHand BH8-262 Technical Specifications =
     2=== Kinematics  Qty. ===
     3        * Total fingers:        3
     4        * Fingers which spread: 2
     5        * Joints per finger:    3
     6        * Motors per finger:    1
     7        * Axes of spread motion:        2
     8        * Motors for spread motion:     1
     9        * Total axes:   8
     10        * Total motors: 4
     11
     12=== Range of Motion  ===
     13        * Finger base joint:    140¡
     14        * Fingertip:      48¡
     15        * Finger spread:        180¡
     16
     17=== Finger Speed  ===
     18        * Finger fully open to fully closed:    1.0 sec
     19        * Full 180¡ finger spread:      0.3 sec
     20
     21=== Position Sensing ===
     22        * Type: optical incremental encoder
     23        * Resolution:   0.008¡ at the finger base joint
     24        17,500 encoder counts full finger open to full close
     25
     26=== Weight ===
     27        * !BarrettHand™:            1.18 kg (2.60 lb)
     28        * Optional Arm Adapter B0133:   0.2   kg (0.4   lb) additional
     29
     30=== Payload  ===
     31        * 2.0 kg (4.4 lb) per finger at tip
     32
     33=== Motor Type  ===
     34        * Samarium-Cobalt, brushless, DC, servo motors
     35
     36=== Mechanisms  ===
     37        * Worm drives integrated with patented cable drive and !TorqueSwitch™
     38
     39=== Power Requirements ===
     40        * Single phase AC electrical outlet with ground.       
     41        * Load: 500 W
     42        * Phases:       Single
     43        * Voltage:      95-130 & 190-260 VAC
     44        * Frequency:    50/60 Hz
     45
     46=== Power Supply ===
     47        * Location:     dry, stationary surface
     48        * Size: 298 x 149 x 42 mm (11.74 x 5.65 x 1.54 in)
     49        * Weight:       1224 gm (2.70 lb)
     50
     51=== Cables ===
     52        * 3-meter continuous-flex cable, 8-mm diameter (!BarrettHand™ Cable)
     53        * 3-meter serial extension cable
     54        * AC line cord
     55
     56=== Hand Dimensions  ===
     57
     58[[Image(htdocs:bhand/figure40.png)]]
     59
     60Figure 40 - !BarrettHand™ Dimensions
     61
     62=== Available Options  ===
     63        * B029A         Strain gage Fingertip Torque Sensors for all three fingers
     64        * B0111         C++ Function Library
     65        * B01C3         Subscription Service
     66
     67=== US Patents (patents established and pending in other countries) ===
     68        * 5,501,498
     69        * 5,388,480
     70        * 4,957,320