26
15 luglio 2019
Figure 7-3 Definition of the Tool Coordinate System
Σ
T
(O
T
; X
T
, Y
T
, Z
T
)
.
Table 7-1 gives also the position of the center of mass and the inertia tensor
of the SoftHand Industry respect to
Σ
T
(O
T
; X
T
, Y
T
, Z
T
)
and wrist pre-set in 0°
position. All coordinate systems here described follow the orthogonal right-
hand rule.
MECHANCAL
UNIT
NOMINAL
MIN
MAX
weight
[kg]
0.89
-
-
wrist mounting range
[deg]
-
0
90
wrist mounting resolution
[deg]
7.5
-
-
power grasp payload
[kg]
-
-
2.0
pinch grasp payload
[kg]
-
-
0.6
hanging payload
[kg]
-
-
5.0
full closing time
[s]
-
-
1.2
CENTER OF MASS
UNIT
X
Y
Z
coordinates
system
Σ
T
fully open
[mm]
2.4
80.5
14.3
fully closed
[mm]
1.1
75.3
17.5
