Changes between Version 1 and Version 2 of Hand/282/MassProperties


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Timestamp:
Jul 11, 2013, 2:00:36 PM (6 years ago)
Author:
dc
Comment:

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  • Hand/282/MassProperties

    v1 v2  
    1414
    1515The following inertial frames are established on the hand. In each of the following diagrams, coordinate systems are oriented with the Z-axis coincident to the axis of rotation of each joint. These inertial frames follow the same convention as on the BarrettHand BH8-262.
    16 [[Image(AllFrames_crop.jpg)]]
     16[[Image(http://web.barrett.com/supportFiles/wikiFiles/AllFrames_crop.jpg)]]
    1717
    1818Since no one is likely to wish to attempt computed-torque control on the Hand axes (since the frictions in the Hand are very high), the backdriven, reflected drive inertias of the drives were not computed. Since backdriven drive inertias have no effect on gravity terms, the frame inertias should give you good results for controlling the WAM arm and wrist torques as functions of hand-finger positions.
     
    2323== Mass Properties for Frame W (hand base frame) with palm pad ==
    2424
    25 [[Image(HandFrameW_NoDialog_crop.jpg)]]
     25[[Image(http://web.barrett.com/supportFiles/wikiFiles/HandFrameW_NoDialog_crop.jpg)]]
    2626
    2727Output coordinate System: Frame W (opaque)
     
    5656== Mass Properties for Frame W (hand base frame) without palm pad ==
    5757
    58 [[Image(HandFrameW_NOPP_NoDialog_crop.jpg)]]
     58[[Image(http://web.barrett.com/supportFiles/wikiFiles/HandFrameW_NOPP_NoDialog_crop.jpg)]]
    5959
    6060Output coordinate System: Frame W (opaque)
     
    9393== Mass Properties for Frame 1 (finger spread frame) ==
    9494
    95 [[Image(HandFrame1_NoDialog_crop.JPG)]]
     95[[Image(http://web.barrett.com/supportFiles/wikiFiles/HandFrame1_NoDialog_crop.JPG)]]
    9696
    9797Output coordinate System: F1 (opaque)
     
    123123== Mass Properties for Frame 2 (finger inner link frame) without fingertip torque sensor ==
    124124
    125 [[Image(HandFrame2_NOSG_NoDialog_crop.JPG)]]
     125[[Image(http://web.barrett.com/supportFiles/wikiFiles/HandFrame2_NOSG_NoDialog_crop.JPG)]]
    126126
    127127Output coordinate System: F2_Origin
     
    154154== Mass Properties for Frame 2 (finger inner link frame) with fingertip torque sensor ==
    155155
    156 [[Image(HandFrame2_NoDialog_crop.JPG)]]
     156[[Image(http://web.barrett.com/supportFiles/wikiFiles/HandFrame2_NoDialog_crop.JPG)]]
    157157
    158158Output coordinate System: F2_Origin
     
    185185== Mass Properties for Frame 3 (fingertip frame) without fingertip pressure pad ==
    186186
    187 [[Image(HandFrame3_NOPP_NoDialog_crop.JPG)]]
     187[[Image(http://web.barrett.com/supportFiles/wikiFiles/HandFrame3_NOPP_NoDialog_crop.JPG)]]
    188188
    189189Output coordinate System: F3 (opaque)
     
    216216== Mass Properties for Frame 3 (fingertip frame) with fingertip pressure pad ==
    217217
    218 [[Image(HandFrame3_NoDialog_crop.JPG)]]
     218[[Image(http://web.barrett.com/supportFiles/wikiFiles/HandFrame3_NoDialog_crop.JPG)]]
    219219
    220220Output coordinate System: F3 (opaque)