Changes between Version 1 and Version 2 of Hand/280/Specifications:MotorsMaterialsPower


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Timestamp:
May 19, 2011, 3:55:31 PM (14 years ago)
Author:
edison
Comment:

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  • Hand/280/Specifications:MotorsMaterialsPower

    v1 v2  
    11= BarrettHand BH8-280 Technical Specifications =
    2 === Kinematics  Qty. ===
    3         * Total fingers:        3
    4         * Fingers which spread: 2
    5         * Joints per finger:    3
    6         * Motors per finger:    1
    7         * Axes of spread motion:        2
    8         * Motors for spread motion:     1
    9         * Total axes:   8
    10         * Total motors: 4
    112
    12 === Range of Motion  ===
    13         * Finger base joint:    140¡
    14         * Fingertip:      48¡
    15         * Finger spread:        180¡
     3=== Kinematics ===
     4Total fingers: 3
     5Fingers which spread: 2
     6Joints per finger: 2
     7Motors per finger: 1
     8Axes of palm spread motion: 2
     9Motors for palm spread motion: 1
     10Total hand axes: 8
     11Total hand motors: 4
    1612
    17 === Finger Speed  ===
    18         * Finger fully open to fully closed:    1.0 sec
    19         * Full 180¡ finger spread:      0.3 sec
     13=== Range of Motion ===
     14Finger base joint: 140°
     15Fingertip: 45°
     16Finger spread: 180°
    2017
    21 === Position Sensing ===
    22         * Type: optical incremental encoder
    23         * Resolution:   0.008¡ at the finger base joint
    24         17,500 encoder counts full finger open to full close
     18=== Finger Speed ===
     19Finger fully open to fully closed:1.0 sec
     20Full 180° finger spread: 0.5 sec
     21
     22=== Position Sensing ===
     23Type: optical incremental encoder
     24Resolution: 0.008° at the finger base joint
     2517,500 encoder counts full finger open to full close
    2526
    2627=== Weight ===
    27         * !BarrettHand™:            1.18 kg (2.60 lb)
    28         * Optional Arm Adapter B0133:   0.2   kg (0.4   lb) additional
     28Hand: 1.2 kg (2.60 lb)
     29Optional Arm Adapter B0133: 0.2 kg
     30(0.4 lb) additional
    2931
    30 === Payload  ===
    31         * 2.0 kg (4.4 lb) per finger at tip
     32=== Payload ===
     336.0 kg (13.2 lbs), 2.0 kg (4.4 lb) per finger
    3234
    33 === Motor Type  ===
    34         * Samarium-Cobalt, brushless, DC, servo motors
     35=== Finger Forces (at tip) ===
     36Active: 15 N (3.3 lb)
     37Passive: 20 N (4.4 lb)
    3538
    36 === Mechanisms ===
    37         * Worm drives integrated with patented cable drive and !TorqueSwitch™
     39=== Motor Type ===
     40Rare-Earth , brushless, DC, servo motors
    3841
    39 === Power Requirements ===
    40         * Single phase AC electrical outlet with ground.       
    41         * Load: 500 W
    42         * Phases:       Single
    43         * Voltage:      95-130 & 190-260 VAC
    44         * Frequency:    50/60 Hz
     42=== Mechanisms ===
     43Worm drives integrated with patented cable drive and breakaway clutch
    4544
    46 === Power Supply ===
    47         * Location:     dry, stationary surface
    48         * Size: 298 x 149 x 42 mm (11.74 x 5.65 x 1.54 in)
    49         * Weight:       1224 gm (2.70 lb)
     45=== Cycles per Month ===
     4610,000
    5047
    51 === Cables ===
    52         * 3-meter continuous-flex cable, 8-mm diameter (!BarrettHand™ Cable)
    53         * 3-meter serial extension cable
    54         * AC line cord
     48=== Power Requirements ===
     49Typical AC electrical outlet
     50Load: 600 W
     51Phases: Single
     52Voltage: 120/240 ±10% VAC
     53Frequency: 50/60 Hz
     54
     55=== Power Supply ===
     56Location: dry, stationary surface
     57Size H,W,D: 295 x 145 x 40 mm
     58  (11.8 x 5.7 x 1.7 in)
     59Weight: 1.3 kg (3.4 lb)
     60
     61Single Cable to Hand
     623m continuous-flex cable, 8mm diameter
    5563
    5664=== Hand Dimensions  ===