Changes between Version 1 and Version 2 of Hand/262/Troubleshooting
- Timestamp:
- May 12, 2011, 4:06:57 PM (14 years ago)
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Hand/262/Troubleshooting
v1 v2 2 2 Most of the symptoms repeated in this section were generated by Barrett's own lab Hands which are assigned to destructive testing over millions of cycles. 3 3 4 Symptom: The Hand behaves erratically. It disobeys some commands while obeying others. 4 === Symptom: The Hand behaves erratically. It disobeys some commands while obeying others. === 5 5 6 6 Possible Solution: … … 8 8 9 9 10 Symptom: The host computer will not communicate with the !BarrettHand™. 10 === Symptom: The host computer will not communicate with the !BarrettHand™. === 11 11 12 12 Possible Solution: … … 20 20 21 21 22 Symptom: Initial strain gage values do not fall within specified range. 22 === Symptom: Initial strain gage values do not fall within specified range. === 23 23 24 24 Possible Solution: … … 34 34 }}} 35 35 36 Symptom: The strain gage values do not follow the expected strain gage curves, shown in Figure 35, while grasping. 36 === Symptom: The strain gage values do not follow the expected strain gage curves, shown in Figure 35, while grasping. === 37 37 38 38 Possible Solution: … … 44 44 45 45 46 Symptom: Only the fingertip closes when the entire finger should close (Premature Breakaway). 46 === Symptom: Only the fingertip closes when the entire finger should close (Premature Breakaway). === 47 47 48 48 Possible Solution: … … 52 52 53 53 54 Symptom: Finger sticks fully closed. 54 === Symptom: Finger sticks fully closed. === 55 55 56 56 Possible Solution: … … 65 65 66 66 67 Symptom: Finger sticks open. 67 === Symptom: Finger sticks open. === 68 68 69 69 Possible Solution: … … 75 75 76 76 77 Symptom: Finger moves in opposite direction of commanded motion. 77 === Symptom: Finger moves in opposite direction of commanded motion. === 78 78 79 79 Possible Solution: … … 82 82 83 83 84 Symptom: The !TorqueSwitch™ does not breakaway properly, prohibiting the fingertip from completing a form grasp around an object. 84 === Symptom: The !TorqueSwitch™ does not breakaway properly, prohibiting the fingertip from completing a form grasp around an object. === 85 85 86 86 Possible Solution: … … 102 102 103 103 104 Symptom: Using the GTO or GTC command to open or close the fingers results in the fingers moving at slightly different velocities. This does not happen with GO and GC commands. 104 === Symptom: Using the GTO or GTC command to open or close the fingers results in the fingers moving at slightly different velocities. This does not happen with GO and GC commands. === 105 105 106 106 Possible Solution: … … 111 111 112 112 113 Symptom: Fingers will not close completely. 113 === Symptom: Fingers will not close completely. === 114 114 115 115 Possible Solution: … … 121 121 1. If the problem persists, contact Barrett Technology. 122 122 123 Symptom: The spread motion has excessive friction. 123 === Symptom: The spread motion has excessive friction. === 124 124 125 125 Possible Solution: … … 128 128 1. If the problem persists, contact Barrett Technology. 129 129 130 Symptom: The threaded locking ring does not fit on the threaded base of the !BarrettHand™. 130 === Symptom: The threaded locking ring does not fit on the threaded base of the !BarrettHand™. === 131 131 132 132 Possible Solution: … … 134 134 1. The threads on the base of the !BarrettHand™ have been damaged. Contact Barrett Technology for service. 135 135 136 Symptom: The fingertip flops over backwards after a severe impact against a finger tip. 136 === Symptom: The fingertip flops over backwards after a severe impact against a finger tip. === 137 137 138 138 Possible Solution: 139 139 1. The finger cable is broken. Verify this by removing the Shroud Cover, see Figure 23, and inspecting the cable. The cable should be intact and not broken. If the cable is broken, contact Barrett Technology. 140 140 141 Symptom: The fingertip has excessive backlash. 141 === Symptom: The fingertip has excessive backlash. === 142 142 143 143 Possible Solution: … … 145 145 1. The finger cable is broken. Verify this by removing the Shroud Cover, see Figure 23, and inspecting the cable. The cable should be intact and not broken. If the cable is broken, contact Barrett Technology. 146 146 147 Symptom: The fingertip has driven itself open beyond the normal full-open position and perhaps is hyperextended, but it is not loose.147 === Symptom: The fingertip has driven itself open beyond the normal full-open position and perhaps is hyperextended, but it is not loose. 148 148 149 149 Possible Solution: … … 151 151 1. If problem persists, Hand must be serviced. 152 152 153 Symptom: The spread fingers F1 and F2 are at different angles around the palm. 153 === Symptom: The spread fingers F1 and F2 are at different angles around the palm. === 154 154 155 155 Possible Solution: