| | 1 | = Thank you = |
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| | 3 | Thank you for choosing the !BarrettHand BH8-280/290 Grasper. The !BarrettHand is designed to overcome the inflexibility of conventional grippers with microprocessor-enabled dexterity while maintaining durability, compactness, and ease of use. The !BarrettHand is a multi-fingered Grasper with the dexterity to secure target objects of different sizes, shapes, and orientations. Rather than rely on pinching gripper friction or permanent gripper-jaw shape customization the !BarrettHand gently envelops the object, securely locking its joints until commanded to release. |
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| | 5 | System integration with any robotic arm is fast and simple. Even with its low, 1.2-kg, weight and compact form, it is totally self-contained. Communication with the !BarrettHand can be achieved using its high-speed Controller Area Network (CAN) Bus for rapid sensor feedback and control, or its RS-232 serial connection for guaranteed compatibility. The !BarrettHand features a common cross-platform compatible API and provides powerful on-board motion control through Barrett’s open Grasper Control Language (GCL) facilitating supervisory control. |
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| | 7 | The compactness and low weight of the !BarrettHand assures that the enhanced dexterity does not compromise arm payload. Its low mass and short base-to-grasp-center distance minimize joint loading on the host robot and reduce extraneous arm movements during object reorientation. The custom control-electronics package is contained entirely within the palm shell which reduces electrical wiring to a single cable carrying all communications and motor power. |
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| | 9 | We hope that you enjoy the versatility and functionality of the !BarrettHand. Please do not hesitate to give us feedback or ask for advice when needed. US+617-252-9000, support@barrett.com, or [http://www.barrett.com/robot/]. |
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| | 11 | == Improvements over the previous model (BH8-262): == |
| | 12 | * New CANbus control offers > 10x the control rate of RS-232. |
| | 13 | * Realtime control now includes torque and position control modes in addition to the standard velocity control. |
| | 14 | * All joint positions are tracked, even after TorqueSwitch breakaway occurs. |
| | 15 | * The palm height has been reduced by 18 mm, improving end-of-arm agility. |
| | 16 | * Absolute magnetic encoders are more robust than the incremental optical encoders of the previous model and offer 10x position precision. |
| | 17 | * LEDs on the hand indicate power or error state (error states available soon). |
| | 18 | * Locally-controlled sensor/drive loops allow for lead-through programming. |
| | 19 | * Programmable over-temperature shutdown with multiple heat sensors. |
| | 20 | * Gear shields on “spread” axis help to keep grease in, fingers out. |
| | 21 | * Smaller power supply with status LEDs. |
| | 22 | * Maximum allowable cable length extended from 3 m to 35 m (using CANbus). |
| | 23 | * The BarrettHand Graphical User Interface software has many new features, including: cross-platform compatibility (Windows/Linux), interactive 3D model using OpenGL, and enhanced data collection and graphing capabilities. |
