Changes between Version 14 and Version 15 of Hand/280/KinematicsJointRangesConversionFactors


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Timestamp:
Jan 7, 2016, 10:49:38 PM (9 years ago)
Author:
cv
Comment:

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  • Hand/280/KinematicsJointRangesConversionFactors

    v14 v15  
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    5454
    55 The TorqueSwitch™ is reset by opening the finger fully.  This drives the proximal gear against the belleville washers when the proximal link contacts its joint stop, preloading the system appropriately.
     55The TorqueSwitch™ is reset by opening the finger.  First, the distal link will open as the proximal gear winds along the shaft, then drive the proximal gear against the belleville washers, re-engaging the clutch and causing the proximal link to open with the distal link.  When the proximal link encounters a resistive force, such as its joint stop, the proximal gear will compress the bellevilles, preloading the system to a programmable level (Puck parameter "OT").
    5656
    5757The amount of preload can be altered by changing the "OT" parameter in the Puck driving that finger.