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

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