9.6.2
Joint Motion Limits
The maximum joint motion limits for the BarrettHand™ are calculated based on the zero position
seen in Figure 36. Depending on the position of the spread joint,
Θ
11
, and the objects in the grasp,
the maximum joint motion limits for the finger links may vary.
The inner link,
Θ
12
,
Θ
22
,
Θ
32
, has a maximum joint motion limit of 140
°
with no object blocking
movement and
Θ
11
in the full close or open position. The outer link,
Θ
13
,
Θ
23
,
Θ
33
, has a maximum
joint motion limit of 48
°
when
Θ
11
is fully open or closed and there is no object in the grasp, as
shown in Figure 38. When the spread is in any position other than full open or close, the fingers
may not have the full range of motion due to interference with other fingers.
140
°
48
°
0
°
0
°
Figure 38 - Finger Joint Motion Limit Range
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