= !BarrettHand™ BH8-282 Technical Specifications = === Kinematics === Total fingers: 3 Fingers which spread: 2 Joints per finger: 2 Motors per finger: 1 Axes of palm spread motion: 2 Motors for palm spread motion: 1 Total hand axes: 8 Total hand motors: 4 === Range of Motion === Finger base joint: 140° Fingertip: 45° Finger spread: 180° === Finger Speed === Finger fully open to fully closed:1.0 sec Full 180° finger spread: 0.5 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 === 978 g (2.15 lb) Optional Arm Adapter B0133: 0.2 kg (0.4 lb) additional === Payload === 6.0 kg (13.2 lbs), 2.0 kg (4.4 lb) per finger === Finger Forces (at tip) === Active: 15 N (3.3 lb) Passive: 20 N (4.4 lb) === Motor Type === Rare-Earth , brushless, DC, servo motors === Mechanisms === Worm drives integrated with patented cable drive and breakaway clutch === Cycles per Month === 10,000 === Power Requirements === AC electrical outlet Load: 440 W Phases: Single Voltage: 120/240 VAC (85-264 Vrms) Frequency: 50/60 Hz (47-63 Hz) === Power Supply === Location: dry, stationary surface Size H,W,D: 295 x 145 x 40 mm (11.8 x 5.7 x 1.7 in) Weight : 1.3 kg (3.4 lb) Single Cable to Hand 3m continuous-flex cable, 8mm diameter === Hand Dimensions, BH8-282 === [[Image(http://web.barrett.com/supportFiles/wikiFiles/Dimensions_282.png)]] === 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