= !BarrettHand™ BH8-282 Technical Specifications =

=== Kinematics ===
Total fingers: 3
Fingers which spread: 2
Joints per finger: 2
Motors per finger: 1
Axes of palm spread motion: 2
Motors for palm spread motion: 1
Total hand axes: 8
Total hand motors: 4

=== Range of Motion ===
Finger base joint: 140°
Fingertip: 45°
Finger spread: 180°

=== Finger Speed ===
Finger fully open to fully closed:1.0 sec
Full 180° finger spread: 0.5 sec

=== Position Sensing ===
Type: optical incremental encoder
Resolution: 0.008° at the finger base joint
17,500 encoder counts full finger open to full close

=== Weight ===
978 g  (2.15 lb)

Optional Arm Adapter B0133: 0.2 kg
(0.4 lb) additional

=== Payload ===
6.0 kg (13.2 lbs), 2.0 kg (4.4 lb) per finger

=== Finger Forces (at tip) ===
Active: 15 N (3.3 lb)
Passive: 20 N (4.4 lb)

=== Motor Type ===
Rare-Earth , brushless, DC, servo motors

=== Mechanisms ===
Worm drives integrated with patented cable drive and breakaway clutch

=== Cycles per Month ===
10,000

=== Power Requirements ===
AC electrical outlet

Load: 440 W

Phases: Single

Voltage: 120/240 VAC (85-264 Vrms)

Frequency: 50/60 Hz (47-63 Hz)

=== Power Supply ===
Location: dry, stationary surface

Size H,W,D:
  295 x 145 x 40 mm

  (11.8 x 5.7 x 1.7 in)

Weight : 1.3 kg (3.4 lb)

Single Cable to Hand

3m continuous-flex cable, 8mm diameter

=== Hand Dimensions, BH8-282  ===

[[Image(http://web.barrett.com/supportFiles/wikiFiles/Dimensions_282.png)]]


=== Available Options  ===
	* B029A		Strain gage Fingertip Torque Sensors for all three fingers
	* B0111		C++ Function Library
	* B01C3		Subscription Service

=== US Patents (patents established and pending in other countries) ===
	* 5,501,498
	* 5,388,480
	* 4,957,320