Changes between Initial Version and Version 1 of Hand/282/ThankYou


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Timestamp:
Jul 10, 2013, 9:23:57 PM (9 years ago)
Author:
dc
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  • Hand/282/ThankYou

    v1 v1  
     1= Thank you =
     2
     3Thank you for choosing the !BarrettHand BH8-280/290 Grasper.  The !BarrettHand is designed to overcome the inflexibility of conventional grippers with microprocessor-enabled dexterity while maintaining durability, compactness, and ease of use.  The !BarrettHand is a multi-fingered Grasper with the dexterity to secure target objects of different sizes, shapes, and orientations.  Rather than rely on pinching gripper friction or permanent gripper-jaw shape customization the !BarrettHand gently envelops the object, securely locking its joints until commanded to release.
     4
     5System integration with any robotic arm is fast and simple.  Even with its low, 1.2-kg, weight and compact form, it is totally self-contained.  Communication with the !BarrettHand can be achieved using its high-speed Controller Area Network (CAN) Bus for rapid sensor feedback and control, or its RS-232 serial connection for guaranteed compatibility.  The !BarrettHand features a common cross-platform compatible API and provides powerful on-board motion control through Barrett’s open Grasper Control Language (GCL) facilitating supervisory control.
     6
     7The compactness and low weight of the !BarrettHand assures that the enhanced dexterity does not compromise arm payload.  Its low mass and short base-to-grasp-center distance minimize joint loading on the host robot and reduce extraneous arm movements during object reorientation.  The custom control-electronics package is contained entirely within the palm shell which reduces electrical wiring to a single cable carrying all communications and motor power.
     8
     9We hope that you enjoy the versatility and functionality of the !BarrettHand.  Please do not hesitate to give us feedback or ask for advice when needed.  US+617-252-9000, support@barrett.com, or [http://www.barrett.com/robot/].
     10
     11== Improvements over the previous model (BH8-262): ==
     12* New CANbus control offers > 10x the control rate of RS-232.
     13* Realtime control now includes torque and position control modes in addition to the standard velocity control.
     14* All joint positions are tracked, even after TorqueSwitch breakaway occurs.
     15* The palm height has been reduced by 18 mm, improving end-of-arm agility.
     16* Absolute magnetic encoders are more robust than the incremental optical encoders of the previous model and offer 10x position precision.
     17* LEDs on the hand indicate power or error state (error states available soon).
     18* Locally-controlled sensor/drive loops allow for lead-through programming.
     19* Programmable over-temperature shutdown with multiple heat sensors.
     20* Gear shields on “spread” axis help to keep grease in, fingers out.
     21* Smaller power supply with status LEDs.
     22* Maximum allowable cable length extended from 3 m to 35 m (using CANbus).
     23* The BarrettHand Graphical User Interface software has many new features, including: cross-platform compatibility (Windows/Linux), interactive 3D model using OpenGL, and enhanced data collection and graphing capabilities.