Changes between Version 15 and Version 16 of Hand/280/KinematicsJointRangesConversionFactors


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Timestamp:
Jan 7, 2016, 10:53:56 PM (8 years ago)
Author:
cv
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  • Hand/280/KinematicsJointRangesConversionFactors

    v15 v16  
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     55
    5556The TorqueSwitch™ is reset by opening the finger.  First, the distal link will open as the proximal gear winds along the shaft, then drive the proximal gear against the belleville washers, re-engaging the clutch and causing the proximal link to open with the distal link.  When the proximal link encounters a resistive force, such as its joint stop, the proximal gear will compress the bellevilles, preloading the system to a programmable level (Puck parameter "OT").
    5657
    57 The amount of preload can be altered by changing the "OT" parameter in the Puck driving that finger.
     58The following graph can be used to set OT for your application:
     59
     60{{{
     61#!div class="center" align="center"
     62[[Image(htdocs:bhand/280/figure31.png)]]
     63
     64'''Figure 31 - Breakaway Force Curve'''
     65}}}
     66
     67To control how much force is applied to an object being grasped without sensor feedback such as finger-tip torque sensors (strain gauges) or tactile sensors, the MT property must be used. Please see this graph to see how MT and finger torque are related:
     68
     69http://web.barrett.com/support/BarrettHand_Documentation/MotorTorque280.png
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