Changes between Version 7 and Version 8 of Hand/280/SystemComponentList
- Timestamp:
- Jul 10, 2013, 9:22:21 PM (11 years ago)
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Hand/280/SystemComponentList
v7 v8 56 56 57 57 === Electrical Cables === 58 All necessary electrical cables are included in the basic BH8-28 0System. The required electrical connections are shown in Figure 2. An AC Line Cord connects the Power Supply to a wall source. A DB9 Extension Cable provides the communications connection from a host computer via RS-232 serial or CAN. A Hand Cable for the particular Power Supply and !BarrettHand™ supply communications, logic power, and motor power. This cable is durable and flexible, allowing the !BarrettHand™ to be used on any robot with minimal effect on robot performance. Use the included set of adhesive guide clips for cable management. Since the control electronics reside inside the !BarrettHand™ itself, no other electrical cabling is required.58 All necessary electrical cables are included in the basic BH8-282 System. The required electrical connections are shown in Figure 2. An AC Line Cord connects the Power Supply to a wall source. A DB9 Extension Cable provides the communications connection from a host computer via RS-232 serial or CAN. A Hand Cable for the particular Power Supply and !BarrettHand™ supply communications, logic power, and motor power. This cable is durable and flexible, allowing the !BarrettHand™ to be used on any robot with minimal effect on robot performance. Use the included set of adhesive guide clips for cable management. Since the control electronics reside inside the !BarrettHand™ itself, no other electrical cabling is required. 59 59 60 The typical connection to BH8-28 0systems use a Peak USB to CAN adapter that connects to a DB-9 extension cable and the BH8-28x power supply, which is shown in Figure 3.60 The typical connection to BH8-282 systems use a Peak USB to CAN adapter that connects to a DB-9 extension cable and the BH8-28x power supply, which is shown in Figure 3. 61 61 62 62 {{{ … … 67 67 }}} 68 68 === Lab Bench Stand === 69 The bench mount stand for the !BarrettHand™, shown in Figure 4, is ideal for off-arm development. The durable Lexan®stand comes complete with cable management clips and mounting features to hold your !BarrettHand™ unit securely on any flat surface. Non-slip rubber feet keep the stand from sliding during testing and programming. A threaded locking ring for base mounting will secure the hand to the stand.69 The bench mount stand for the !BarrettHand™, shown in Figure 4, is ideal for off-arm development. The durable Aluminum stand comes complete with cable management clips and mounting features to hold your !BarrettHand™ unit securely on any flat surface. Non-slip rubber feet keep the stand from sliding during testing and programming. A threaded locking ring for base mounting will secure the hand to the stand. 70 70 71 71 {{{ 72 72 #!div class="center" align="center" 73 [[Image(ht docs:bhand/280/figure4.png)]]73 [[Image(http://web.barrett.com/supportFiles/wikiFiles/AF_Ziptie_Cable.jpg)]] 74 74 75 '''Figure 4: Lab Bench Stand '''75 '''Figure 4: Lab Bench Stand, multiple wiring options''' 76 76 }}} 77 77 … … 101 101 {{{ 102 102 #!div class="center" align="center" 103 [[Image(ht docs:bhand/280/figure5.png)]]103 [[Image(http://web.barrett.com/supportFiles/wikiFiles/HandAdapterToGenericArm.PNG)]] 104 104 105 105 '''Figure 5: Arm Adapter''' … … 107 107 108 108 === Fingertip Torque Sensing Option === 109 Barrett Technology offers a set of three factory-installed torque sensors (one per finger) for the BarrettHand™ system. Each sensor measures the torque externally applied about the distal joint over a range of +/- 1 N-m. This option uses strain-gages to measure the differential tension in the "tendon" running through each finger to the second joint. The information is processed in additional on-board circuitry when this option is installed, it is accessed by requesting the present strain-gage parameter. The strain-gage parameter represents the amount of strain on the strain-gage sensors (values can be calibrated by the customer to relate strain to joint torque).109 Barrett Technology offers a set of three factory-installed torque sensors (one per finger) for the !BarrettHand™ system. Each sensor measures the torque externally applied about the distal joint over a range of +/- 1 N-m. This option uses strain-gages to measure the differential tension in the "tendon" running through each finger to the second joint. The information is processed in additional on-board circuitry when this option is installed, it is accessed by requesting the present strain-gage parameter. The strain-gage parameter represents the amount of strain on the strain-gage sensors (values can be calibrated by the customer to relate strain to joint torque). 110 110 111 111 === Tactile Sensing Option === 112 The BarrettHand with Tactile-Sensing provides 96 cells of tactile-array data spread across all three fingers *and*the palm. The density of cells becomes higher towards the very tips of the fingers where finer spatial resolution is desirable. The entire112 The !BarrettHand™ with Tactile-Sensing provides 96 cells of tactile-array data spread across all three fingers and the palm. The density of cells becomes higher towards the very tips of the fingers where finer spatial resolution is desirable. The entire 113 113 Tactile-Sensing option is seamlessly integrated with the BarrettHand mechanically, electronically, and in the firmware and software. Furthermore, the calibration data is stored with each fingertip and the palm so that if you swap fingers, for example, the 114 114 system is intelligent enough to maintain the correct calibrations.
