| 15 | | Figure 2 is a close-up of the drive elements in the finger. During normal operation, the 16-tooth motor pinion (gray) drives both the 30-tooth distal (yellow) and 40-tooth proximal (blue) gears, which transmit power through their respective right-handed, single-start worms (red and green) and into two 50-tooth worm gears (orange and purple). The proximal worm gear (purple) is tied directly to the proximal link with six screws, whereas the distal gear (orange) connects to the distal link via mechanical cables. The net result is a motion ratio of 93.75:1 for the motor shaft to proximal joint position and a 125:1 reduction for the motor shaft to distal joint position. Also, note the two magnets (light blue) and their associated Hall-array sensors (black) at the ends of the motor shaft and worm shaft. The magnets are magnetized N/S radially, rather than axially, which allows the Puck |
| | 15 | Figure 2 is a close-up of the drive elements in the finger. During normal operation, the 16-tooth motor pinion (gray) drives both the 30-tooth distal (yellow) and 40-tooth proximal (blue) gears, which transmit power through their respective right-handed, single-start worms (red and green) and into two 50-tooth worm gears (orange and purple). The proximal worm gear (purple) is tied directly to the proximal link with six screws, whereas the distal gear (orange) connects to the distal link via mechanical cables. The net result is a motion ratio of 93.75:1 for the motor shaft to proximal joint position and a 125:1 reduction for the motor shaft to distal joint position. Also, note the two magnets (light blue) and their associated Hall-array sensors (black) at the ends of the motor shaft and worm shaft. The magnets are magnetized N/S radially, rather than axially, which allows the Puck (motor controller) to determine the position of both joints in the finger via the Hall-array sensors. |
