SOFTCLAW —
6
UNIT
LEFT
CoM x coordinate,
O
TX
[mm]
1
CoM y coordinate,
O
TY
[mm]
53
CoM z coordinate,
O
TZ
[mm]
1
Weight
[kg]
0.780
Center of Mass, O
T
, is evaluated w.r.t.
Σ
M
considering the device mounted with its fixed finger facing the
ground, cf. the figures below.
Figure 2. —
Robot Tool Coordinate System
On the left, it is represented the mechanical interface coordinate system
Σ
M
(O
M
; X
M
, Y
M
, Z
M
)
of
an
articulated robot, as defined by ISO 9787:2013. In particular, the center of the coordinate system,
O
M
, is
on the interface surface of the robot tool flange and the
Z
M
axis
is coincident with the tool flange axis of
symmetry. R
i
is the i-th revolute joint of the robot
and
(O
1
; X
1
, Y
1
, Z
1
)
is
the base coordinate system of the
robot.
On the
right, there
is the Tool Coordinate
System,
Σ
T
(O
T
; X
T
, Y
T
, Z
T
)
, of the qbSoftClaw and the
center,
O
T
,
coincides with the center of mass of the device and its position is defined by the distance
from
O
M
.
The
Z
T
axis
is normal to the palm, outgoing positive, and
the
Y
T
axis
follows the proximal-distal direction and
orientation.
3.3 Mechanical characteristics
MINIMUM
NOMINAL
MAXIMUM
Payload
[kg]
—
—
3.70
All coordinate systems here described follow the orthogonal right-hand rule.
