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

Jul 10, 2013, 9:23:57 PM (9 years ago)



  • Hand/282/ThankYou

    v1 v1  
     1= Thank you =
     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.
     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.
     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.
     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,, or [].
     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.