Changes between Version 5 and Version 6 of Hand/280/SystemComponentList
- Timestamp:
- Jan 20, 2012, 3:02:22 PM (12 years ago)
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Hand/280/SystemComponentList
v5 v6 28 28 * Quick-start Sheet 29 29 30 == Ad ittional Information ==30 == Additional Information == 31 31 === The Hand === 32 The !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.32 The !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. The “spread” motion around the palm allows “on-the-fly” grasp reconfiguration to adapt to varying target object sizes, shapes, and orientations. 33 33 34 34 Aside 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. … … 56 56 57 57 === Electrical Cables === 58 All 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.58 All 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. 59 59 60 60 The 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. … … 87 87 88 88 C++ Function Library 89 The !BarrettHand™ C++ Function Library is an API for programming the !BarrettHand™ using the C++ language on IBM-compatible PC’s without having to manage various communication and timing issues. The library contains a hand control class that has easy-to-use functions that permit the use of Supervisory and !RealTime commands in software developed by the user. All of the functions are available when the library and its dependencies are linked to the program. Dependencies are usually installed by default so the user can focus on development.The C++ API includes HTML generated documentation that describes all of the classes, variables, and methods that users should use in detail and gives examples.89 The !BarrettHand™ C++ Function Library is an API for programming the !BarrettHand™ using the C++ language on IBM-compatible PC’s without having to manage various communication and timing issues. The library contains a hand control class that has easy-to-use functions that permit the use of Supervisory and !RealTime commands in software developed by the user. All of the functions are available when the library and its dependencies are linked to the program. Dependencies are usually installed by default so the user can focus on development. The C++ API includes HTML generated documentation that describes all of the classes, variables, and methods that users should use in detail and gives examples. 90 90 91 The API is written in C++ and compiled for 32-bit versions of Ubuntu 9.10 and Windows XP. It is a typical C++ library, providing a class from which you instantiate one BHand object and use it for all communications. The library uses a multithreaded mechanism for sending commands, which allows both synchronous and asynchronous access to the low-level thread and ensures that all communications are executed with high priority.The low-level thread manages all input and output buffers and makes controlling the !BarrettHand™ easy.91 The API is written in C++ and compiled for 32-bit versions of Ubuntu 9.10 and Windows XP. It is a typical C++ library, providing a class from which you instantiate one BHand object and use it for all communications. The library uses a multithreaded mechanism for sending commands, which allows both synchronous and asynchronous access to the low-level thread and ensures that all communications are executed with high priority. The low-level thread manages all input and output buffers and makes controlling the !BarrettHand™ easy. 92 92 93 93 Firmware 94 The !BarrettHand™ has firmware that resides on the control electronics inside the palm. The firmware is a compiler generated text file that may be uploaded to the hand through the boot loader and the configuration tab in the GUI. The firmware receives commands, controls the motors, sets and retrieves properties, and reads or writes to the EEPROM. 95 96 == Maintenance Kit == 97 Included in each !BarrettHand™ package is a maintenance kit which includes the following: 98 99 * Mobil 1® synthetic grease lubricant in syringe 100 * Hex Wrench Kit (1.0 mm, 1.27 mm, 2.0 mm, etc.) 101 * 2 mm Hex Driver 102 * Torque wrench 103 * Loctite 222 104 * Tweezers 105 * Pull tool 106 * Finger Angle Fixture 107 * Phillips Head Screwdriver 108 * Flathead Screwdriver 109 * 2 Screws with O-Rings 94 The !BarrettHand™ has firmware that resides on the control electronics inside the palm. The firmware is a compiler generated text file that may be uploaded to the hand through the boot loader and the configuration tab in the GUI. The firmware receives commands, controls the motors, sets and retrieves properties, and reads or writes to the EEPROM. 110 95 111 96 == System Options == 112 97 113 === Arm adapter ===114 Barrett Technology provides an arm adapter (Figure 5) matching the make and model of any robot specified by the customer. This lightweight arm adapter is made to work with the end-effector bolt pattern on your robot, allowing quick, easy mounting and wire management for a BH8-SERIES System. The arm adapter is bolted to the end of the robot arm and the !BarrettHand™ is secured to the arm adapter with its standard threaded locking ring.The arm adapter is also equipped with an anti-rotation feature to prevent rotation during operation.98 === Arm Adapter === 99 Barrett Technology provides an arm adapter (Figure 5) matching the make and model of any robot specified by the customer. This lightweight arm adapter is made to work with the end-effector bolt pattern on your robot, allowing quick, easy mounting and wire management for a BH8-SERIES System. The arm adapter is bolted to the end of the robot arm and the !BarrettHand™ is secured to the arm adapter with its standard threaded locking ring. The arm adapter is also equipped with an anti-rotation feature to prevent rotation during operation. 115 100 116 101 {{{ … … 118 103 [[Image(htdocs:bhand/280/figure5.png)]] 119 104 120 '''Figure 5: Arm adapter'''105 '''Figure 5: Arm Adapter''' 121 106 }}} 122 === Strain gage Joint-Torque Sensors ===123 Barrett Technology offers a factory-installed torque sensor for the BH8-280 System. This sensor measures the torque externally applied about the distal joint over a range of +/- 1 N-m (+/-2 kg at finger tip is about 20 N @ 5 cm = +/- 1 N-m). This option uses strain gages to measures the differential tension in the “tendon” running through each finger to the second joint. The information is processed in additional on-board circuitry when this option is installed; it is accessed by requesting the present strain gage property.The strain gage property represents the amount strain on the strain gage sensors. The strain gage values can be calibrated by the customer to relate strain to joint torque.107 === Finger-Tip Torque Sensors === 108 Barrett Technology offers a factory-installed torque sensor for the BH8-280 System. This sensor measures the torque externally applied about the distal joint over a range of +/- 1 N-m (+/-2 kg at finger tip is about 20 N @ 5 cm = +/- 1 N-m). This option uses foil strain gages to measures the differential tension in the “tendon” running through each finger to the second joint. The information is processed in additional on-board circuitry when this option is installed; it is accessed by requesting the strain gage property. The strain gage property represents the amount strain on the strain gage sensors. The strain gage values can be calibrated by the customer to relate strain to joint torque.
