BH8-Series – User’s Manual
www.barrett.com
© 2007 Barrett Technology®, Inc.
Document: D3000, Version: AF.00
Page 6 of 82
1.1.3
BarrettHand™
The BarrettHand™, shown in Figure 1, has three fingers labeled F1, F2 and F3. Two of the
fingers, F1 & F2, rotate synchronously and symmetrically about the base joint in a spreading
action. The “spread” motion around the palm allows “on-the-fly” grasp reconfiguration to adapt
to varying target object sizes, shapes, and orientations.
Aside from the spread motion, each of the three fingers on the BarrettHand™ feature two joints
driven by a single DC brushless servo motor. The joints of each finger are coupled through
Barrett’s patented TorqueSwitch™, which automatically switches motor torque to the appropriate
finger joint when closing on a target object. Using the fingers together allows the BarrettHand™
to "grasp" a wide variety of objects securely. The TorqueSwitch™ combined with the spread
function, makes object grasping nearly target-independent.
The BarrettHand™, shown in Figure 1, is equipped with a threaded base for compact and secure
mounting. The threaded base is fully compatible with the BarrettArm. And, with the arm adapter,
it can be mounted on virtually any robot with a standard ISO tool plate, for easy installation and
maintenance.
F1 and F2 Spread
around the Palm
F2
F1
F3
Onboard Control
Electronics Package in
Palm Shell
Threaded
Ring for
Quick
Connection
TorqueSwitch™
Shifts Torque to
Appropriate Finger
Joint
Figure 1 - BarrettHand™
