Appendix A Technical Specifications
Kinematics
Qty.
Total fingers:
3
Fingers which spread:
2
Joints per finger:
3
Motors per finger:
1
Axes of spread motion:
2
Motors for spread motion:
1
Total axes:
8
Total motors:
4
Range of Motion
Finger base joint:
140°
Fingertip:
48°
Finger spread:
180°
Finger Speed
Finger fully open to fully closed:
1.0 sec
Full 180° finger spread:
0.3 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
BarrettHand™:
1.18 kg (2.60 lb)
Optional Arm Adapter
B0133:
0.2 kg (0.4 lb) additional
Payload
2.0 kg (4.4 lb) per finger at tip
Motor Type
Samarium-Cobalt, brushless, DC, servo motors
Mechanisms
Worm drives integrated with patented cable drive and TorqueSwitch™
Power Requirements
Single phase AC electrical outlet with ground.
Load:
500 W
Phases:
Single
Voltage:
95-130 & 190-260 VAC
Frequency:
50/60 Hz
Power Supply
Location:
dry, stationary surface
Size:
298 x 149 x 42 mm (11.74 x 5.65 x 1.54 in)
Weight:
1224 gm (2.70 lb)
Cables
3-meter continuous-flex cable, 8-mm diameter (BarrettHand™ Cable)
3-meter serial extension cable
AC line cord
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