= BarrettHand BH8-280 Technical Specifications =
=== Kinematics 	Qty. ===
	* Total fingers:	3
	* Fingers which spread:	2
	* Joints per finger:	3
	* Motors per finger:	1
	* Axes of spread motion:	2
	* Motors for spread motion:	1
	* Total axes:	8
	* Total motors:	4

=== Range of Motion  ===
	* Finger base joint:	140¡
	* Fingertip:	  48¡
	* Finger spread:	180¡

=== Finger Speed  ===
	* Finger fully open to fully closed:	1.0 sec
	* Full 180¡ finger spread:	0.3 sec

=== Position Sensing === 
	* Type:	optical incremental encoder
	* Resolution:	0.008¡ at the finger base joint
	17,500 encoder counts full finger open to full close

=== Weight ===
	* !BarrettHand™:	    1.18 kg (2.60 lb)
	* Optional Arm Adapter B0133:	0.2   kg (0.4   lb) additional

=== Payload  ===
	* 2.0 kg (4.4 lb) per finger at tip

=== Motor Type  ===
	* Samarium-Cobalt, brushless, DC, servo motors 

=== Mechanisms  ===
	* Worm drives integrated with patented cable drive and !TorqueSwitch™

=== Power Requirements === 
	* Single phase AC electrical outlet with ground.	
	* Load:	500 W
	* Phases:	Single
	* Voltage:	95-130 & 190-260 VAC
	* Frequency:	50/60 Hz

=== Power Supply === 
	* Location:	dry, stationary surface
	* Size:	298 x 149 x 42 mm (11.74 x 5.65 x 1.54 in)
	* Weight:	1224 gm (2.70 lb)

=== Cables ===
	* 3-meter continuous-flex cable, 8-mm diameter (!BarrettHand™ Cable)
	* 3-meter serial extension cable
	* AC line cord

=== Hand Dimensions  ===

[[Image(htdocs:bhand/280/figure40.png)]]

Figure 40 - !BarrettHand™ Dimensions

=== Available Options  ===
	* B029A		Strain gage Fingertip Torque Sensors for all three fingers
	* B0111		C++ Function Library
	* B01C3		Subscription Service

=== US Patents (patents established and pending in other countries) ===
	* 5,501,498
	* 5,388,480
	* 4,957,320