Changes between Initial Version and Version 1 of Hand/282/Specifications:MotorsMaterialsPower


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Timestamp:
Jul 11, 2013, 1:11:34 PM (11 years ago)
Author:
dc
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  • Hand/282/Specifications:MotorsMaterialsPower

    v1 v1  
     1= BarrettHand BH8-280 Technical Specifications =
     2
     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
     12
     13=== Range of Motion ===
     14Finger base joint: 140°
     15Fingertip: 45°
     16Finger spread: 180°
     17
     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
     26
     27=== Weight ===
     28BH8-280 : 1.2 kg (2.60 lb)
     29
     30BH8-282 : 978 g  (2.15 lb)
     31
     32Optional Arm Adapter B0133: 0.2 kg
     33(0.4 lb) additional
     34
     35=== Payload ===
     366.0 kg (13.2 lbs), 2.0 kg (4.4 lb) per finger
     37
     38=== Finger Forces (at tip) ===
     39Active: 15 N (3.3 lb)
     40Passive: 20 N (4.4 lb)
     41
     42=== Motor Type ===
     43Rare-Earth , brushless, DC, servo motors
     44
     45=== Mechanisms ===
     46Worm drives integrated with patented cable drive and breakaway clutch
     47
     48=== Cycles per Month ===
     4910,000
     50
     51=== Power Requirements ===
     52AC electrical outlet
     53
     54Load: 440 W
     55
     56Phases: Single
     57
     58Voltage: 120/240 VAC (85-264 Vrms)
     59
     60Frequency: 50/60 Hz (47-63 Hz)
     61
     62=== Power Supply ===
     63Location: dry, stationary surface
     64Size H,W,D: 295 x 145 x 40 mm
     65  (11.8 x 5.7 x 1.7 in)
     66Weight (BH8-280): 1.3 kg (3.4 lb)
     67Single Cable to Hand
     683m continuous-flex cable, 8mm diameter
     69
     70=== Hand Dimensions  ===
     71
     72[[Image(htdocs:bhand/280/figure40.png)]]
     73
     74Figure 40 - !BarrettHand™ Dimensions
     75
     76=== Available Options  ===
     77        * B029A         Strain gage Fingertip Torque Sensors for all three fingers
     78        * B0111         C++ Function Library
     79        * B01C3         Subscription Service
     80
     81=== US Patents (patents established and pending in other countries) ===
     82        * 5,501,498
     83        * 5,388,480
     84        * 4,957,320