Changes between Version 2 and Version 3 of Hand/280/SystemComponentList


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Timestamp:
May 17, 2011, 7:21:18 PM (8 years ago)
Author:
edison
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  • Hand/280/SystemComponentList

    v2 v3  
    1 == Standard BH8-SERIES System Components ==
     1== Standard BH8-280 System Components ==
    22=== The Hand ===
    33The !BarrettHand™, shown in Figure 1, has three fingers labeled F1, F2 and F3.  Two of the fingers, F1 & F2, rotate synchronously and symmetrically about the base joint in a spreading action.  The “spread” motion around the palm allows “on-the-fly” grasp reconfiguration to adapt to varying target object sizes, shapes, and orientations. 
     
    55Aside from the spread motion, each of the three fingers on the !BarrettHand™ feature two joints driven by a single DC brushless servo motor.  The joints of each finger are coupled through Barrett’s patented !TorqueSwitch™, which automatically switches motor torque to the appropriate finger joint when closing on a target object.  Using the fingers together allows the !BarrettHand™ to "grasp" a wide variety of objects securely.  The !TorqueSwitch™ combined with the spread function, makes object grasping nearly target-independent.
    66
    7 The !BarrettHand™, shown in Figure 1, is equipped with a threaded base for compact and secure mounting.  The threaded base is fully compatible with the !BarrettArm. And, with the arm adapter, it can be mounted on virtually any robot with a standard ISO tool plate, for easy installation and maintenance.
     7The !BarrettHand™, shown in Figure 1, is equipped with a threaded base for compact and secure mounting.  The threaded base is fully compatible with the WAM Arm. And, with the arm adapter, it can be mounted on virtually any robot with a standard ISO tool plate, for easy installation and maintenance.
    88
    99{{{
     
    2727
    2828=== Electrical Cables ===
    29 All necessary electrical cables are included in the basic BH8-SERIES System.  The required electrical connections are shown in Figure 2.  An AC Line Cord connects the Power Supply to a wall source.  A DB9 Extension Cable provides the communications connection from a host computer via RS-232 serial or CAN.  A Hand Cable for the particular Power Supply and !BarrettHand™ supply communications, logic power, and motor power.  This cable is durable and flexible, allowing the !BarrettHand™ to be used on any robot with minimal effect on robot performance.  Use the included set of adhesive guide clips for cable management.  Since the control electronics reside inside the !BarrettHand™ itself, no other electrical cabling is required.
     29All necessary electrical cables are included in the basic BH8-280 System.  The required electrical connections are shown in Figure 2.  An AC Line Cord connects the Power Supply to a wall source.  A DB9 Extension Cable provides the communications connection from a host computer via RS-232 serial or CAN.  A Hand Cable for the particular Power Supply and !BarrettHand™ supply communications, logic power, and motor power.  This cable is durable and flexible, allowing the !BarrettHand™ to be used on any robot with minimal effect on robot performance.  Use the included set of adhesive guide clips for cable management.  Since the control electronics reside inside the !BarrettHand™ itself, no other electrical cabling is required.
    3030
    3131The typical connection to BH8-280 systems use a Peak USB to CAN adapter that connects to a DB-9 extension cable and the BH8-28x power supply, which is shown in Figure 3.