Changes between Version 1 and Version 2 of Hand/262/KinematicsJointRangesConversionFactors
- Timestamp:
- May 17, 2011, 8:52:30 PM (14 years ago)
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Hand/262/KinematicsJointRangesConversionFactors
v1 v2 8 8 {{{ 9 9 #!div class="center" align="center" 10 [[Image(htdocs:bhand/ figure29.png)]]10 [[Image(htdocs:bhand/262/figure29.png)]] 11 11 12 12 '''Figure 29 - Barrett's Patented !TorqueSwitch™ Mechanism''' … … 22 22 {{{ 23 23 #!div class="center" align="center" 24 [[Image(htdocs:bhand/ figure30.png)]]24 [[Image(htdocs:bhand/262/figure30.png)]] 25 25 26 26 '''Figure 30 - !TorqueSwitch™ Operation''' … … 31 31 {{{ 32 32 #!div class="center" align="center" 33 [[Image(htdocs:bhand/ figure31.png)]]33 [[Image(htdocs:bhand/262/figure31.png)]] 34 34 35 35 '''Figure 31 - Breakaway Force Curve''' … … 40 40 {{{ 41 41 #!div class="center" align="center" 42 [[Image(htdocs:bhand/ figure32.png)]]42 [[Image(htdocs:bhand/262/figure32.png)]] 43 43 44 44 '''Figure 32 – Stalled FingerTip Force Vs. Commanded Velocity (measured before breakaway).''' … … 54 54 {{{ 55 55 #!div class="center" align="center" 56 [[Image(htdocs:bhand/ figure33.png)]]56 [[Image(htdocs:bhand/262/figure33.png)]] 57 57 58 58 '''Figure 33 - Pinch Grasp Torque''' … … 64 64 {{{ 65 65 #!div class="center" align="center" 66 [[Image(htdocs:bhand/ figure34.png)]]66 [[Image(htdocs:bhand/262/figure34.png)]] 67 67 68 68 '''Figure 34 - Strain Gage Joint-Torque Sensor''' … … 73 73 {{{ 74 74 #!div class="center" align="center" 75 [[Image(htdocs:bhand/ figure35.png)]]75 [[Image(htdocs:bhand/262/figure35.png)]] 76 76 77 77 '''Figure 35 - Strain Gage Torque Curves''' … … 129 129 '''Table 8 is a list of the parameter values used to compute the forward kinematic transformation matrices for all of the fingers.''' 130 130 131 [[Image(htdocs: table8.png)]]131 [[Image(htdocs:bhand/table8.png)]] 132 132 }}} 133 133 … … 136 136 {{{ 137 137 #!div class="center" align="center" 138 [[Image(htdocs:bhand/ figure36.png)]]138 [[Image(htdocs:bhand/262/figure36.png)]] 139 139 140 140 '''Figure 36 - !BarrettHand™ in Zero Position''' … … 145 145 {{{ 146 146 #!div class="center" align="center" 147 [[Image(htdocs:bhand/ figure37.png)]]147 [[Image(htdocs:bhand/262/figure37.png)]] 148 148 149 149 '''Figure 37 - D-H Frame Assignment for Generalized Finger ''' … … 151 151 '''Table 9 - D-H Link Parameters for Fingers''' 152 152 153 [[Image(htdocs: table9.png)]]153 [[Image(htdocs:bhand/table9.png)]] 154 154 155 155 … … 259 259 {{{ 260 260 #!div class="center" align="center" 261 [[Image(htdocs:bhand/ figure38.png)]]261 [[Image(htdocs:bhand/262/figure38.png)]] 262 262 263 263 '''Figure 38 - Finger Joint Motion Limit Range''' … … 268 268 {{{ 269 269 #!div class="center" align="center" 270 [[Image(htdocs:bhand/ figure39.png)]]270 [[Image(htdocs:bhand/262/figure39.png)]] 271 271 272 272 '''Figure 39 - Spread Joint motion limit Range'''