Changes between Version 2 and Version 3 of WAM/SystemComponentList


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Timestamp:
Aug 18, 2011, 9:04:10 PM (9 years ago)
Author:
cv
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  • WAM/SystemComponentList

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    162 
    163 === Passive Gimbals ===
    164 The passive gimbals option, shown in Figure 13, replaces the Outer Link on the WAM and adds three additional unpowered degrees of freedom. The links of the gimbals are designed to provide a large mounting area at the intersection point between all three joint axes. A vertical bar grip comes standard and is designed primarily for life-size haptics, exercise, and rehabilitation; but other grip and mounting options are available. The gimbals use Barrett Technology’s quick-connect system so that it may easily be interchanged with other end effectors.
    165  
    166 A 6-axis force/torque (FT) sensor can be mounted at the base of the gimbals grip for gathering additional data. This sensor is redundant with the built-in Cartesian Force/Torque control capabilities of the WAM, but enables a separate confirmation of values at slightly higher precision.
    167 
    168 {{{
    169 #!div class="center" align="center"
    170 [[Image(htdocs:wam/figure13.png)]]
    171 
    172 '''Figure 13: Gimbals Option'''
    173 }}}
    174 
    175162=== External WAM PC ===
    176163Barrett Technology offers an external PC (see Figure 14) for advanced control applications that require more processing power or more memory than the WAM’s internal PC can provide. A standard keyboard and mouse, CANbus cable, and 2-m AC line cord are provided for use with the external PC. A monitor (not provided) is needed only during the initial setup of the computer. The external PC has the following specifications: