# Changes between Version 2 and Version 3 of Hand/280/KinematicsJointRangesConversionFactors

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Timestamp:
Jan 12, 2012, 4:20:24 PM (9 years ago)
Comment:

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 v2 === Encoder to Joint Ratios === {{{ #!latex $$InnerLinkJointAngle = JP_{cts@worm} * \frac{1_{Rev@worm}}{4096_{cts@worm}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}}$$ $$OuterLinkJointAngle = P_{cts@motor} * \frac{1_{Rev@motor}}{4096_{cts@motor}} * \frac{16_{teeth}}{1_{Rev@motor}} * \frac{1_{Rev@worm}}{30_{teeth}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}} + InnerLinkJointAngle + \frac{2\pi}{9}$$ }}} This section describes all mechanical reductions in the 262 and 280 hands as well as the ratios that go from finger and spread encoder positions to joint positions in units of radians.  To find the finger or spread mechanical reduction relative to the motor  use the constants in the table below.  Table 10 applies to the hands before breakaway occurs.  Each finger has 3 joints starting with the knuckle joint that swings the spread, the last one moves the outer link, and the one in between moves an amount proportional to the outer link until breakaway occurs.  To go from motor encoder position to actual finger position for joint 2 multiply the encoder position by the corresponding joint Radians to ticks ratio.  Joint 3 of the finger moves one third this amount.  This transformation works before breakaway of the !TorqueSwitch™ has occurred.