Changes between Version 19 and Version 20 of Hand/280/KinematicsJointRangesConversionFactors


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Timestamp:
Jan 7, 2016, 11:05:14 PM (9 years ago)
Author:
cv
Comment:

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  • Hand/280/KinematicsJointRangesConversionFactors

    v19 v20  
    3131
    3232'''Figure 3 - The worm and proximal gear rotate together at first, linked across the belleville washers via Coulomb friction.'''
    33 
    34 ''' '''
    3533}}}
    3634
    … …  
    4038
    4139'''Figure 4 - When the proximal link encounters adequate resistance torque, the friction breaks away and the proximal gear winds off the belleville washers.  From this point forward, the proximal link remains locked in place.'''
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    43 ''' '''
    4440}}}
    4541
    … …  
    5551
    5652'''All motor torque is directed to the distal link until the bellevilles are re-engaged by reversing the motor.'''
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    58 ''' '''
    59 }}}
    60 
    61 
     53}}}
    6254
    6355The 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").
    6456
    65 Figure 6 can be used to set OT for your application:
     57Figure 6 can be used to set OT.  Because of variance in the coefficient of friction, some adjustment may be necessary for your application.
    6658
    6759{{{