Changes between Version 15 and Version 16 of Hand/280/KinematicsJointRangesConversionFactors


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Timestamp:
Jan 7, 2016, 10:53:56 PM (9 years ago)
Author:
cv
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  • Hand/280/KinematicsJointRangesConversionFactors

    v15 v16  
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     55
    5556The 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").
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    57 The amount of preload can be altered by changing the "OT" parameter in the Puck driving that finger.
     58The following graph can be used to set OT for your application:
     59
     60{{{
     61#!div class="center" align="center"
     62[[Image(htdocs:bhand/280/figure31.png)]]
     63
     64'''Figure 31 - Breakaway Force Curve'''
     65}}}
     66
     67To control how much force is applied to an object being grasped without sensor feedback such as finger-tip torque sensors (strain gauges) or tactile sensors, the MT property must be used. Please see this graph to see how MT and finger torque are related:
     68
     69http://web.barrett.com/support/BarrettHand_Documentation/MotorTorque280.png
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