Changes between Version 3 and Version 4 of Hand/280/FingerCablePretensioning


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Timestamp:
Jul 10, 2013, 9:23:06 PM (11 years ago)
Author:
dc
Comment:

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  • Hand/280/FingerCablePretensioning

    v3 v4  
    1 = Barrett Hand BH8-282 Finger Cable Pretension =
     1= Barrett Hand BH8-280/282 Finger Cable Pretension =
    22The third joint in each finger is driven by a brushless servomotor through opposing stainless steel cables that act like tendons transmitting torque from a pulley at the base of the finger out to a pulley at the fingertip joint.  If you have purchased the joint-torque sensor option, the difference in tension between the tendon pair is used to determine the torque at the third joint.  The fact that we measure the tensions differentially reduces the effect of actual pretension in the cable as long as the cable is not actually loose.
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