WAM Arm – User’s Manual
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1001, Version: AH.00
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The Haptic Ball (see Figure 4) can be attached to the end of the Outer Link or the Wrist. It is used
to assist in haptic scenes by providing an easy-to-grasp, definable endpoint for the user. Systems
are generally shipped with the Haptic Ball pre-installed.
The Tool Plate (see Figure 5) can be installed on the end of the Outer Link, Wrist, or Elbow Plate
(if neither the Outer Link nor Wrist modules are installed). It provides a flat base that can be used
to attach parts other than the ones designed by Barrett. The Tool Plate has four M6 tapped holes,
evenly distributed in a circle, a 6-mm diameter dowel-pin hole, a quick-connect pin hole and slot,
and two holes to connect the CAN Termination (see Appendix B for Tool Plate hole labels and
dimensions).
The CAN Termination (see Figure 6) must be used if neither the Outer Link nor the Wrist is
attached at the end of the elbow. The CANbus must be terminated at each end with a 120 Ohm
resistor to minimize signal reflections. The termination can be attached to either the end plate of
the elbow or to the Tool Plate (if attached to the elbow) by the two small holes, which are the
same distance apart as the holes on the Termination.
Figure 4 – Haptic Ball
Figure 5 – Tool Plate
Figure 6 – CAN Termination
