| 162 | | |
| 163 | | === Passive Gimbals === |
| 164 | | The passive gimbals option, shown in Figure 13, replaces the Outer Link on the WAM and adds three additional unpowered degrees of freedom. The links of the gimbals are designed to provide a large mounting area at the intersection point between all three joint axes. A vertical bar grip comes standard and is designed primarily for life-size haptics, exercise, and rehabilitation; but other grip and mounting options are available. The gimbals use Barrett Technology’s quick-connect system so that it may easily be interchanged with other end effectors. |
| 165 | | |
| 166 | | A 6-axis force/torque (FT) sensor can be mounted at the base of the gimbals grip for gathering additional data. This sensor is redundant with the built-in Cartesian Force/Torque control capabilities of the WAM, but enables a separate confirmation of values at slightly higher precision. |
| 167 | | |
| 168 | | {{{ |
| 169 | | #!div class="center" align="center" |
| 170 | | [[Image(htdocs:wam/figure13.png)]] |
| 171 | | |
| 172 | | '''Figure 13: Gimbals Option''' |
| 173 | | }}} |
| 174 | | |
