QB Robotics SoftHand2 Research, Общее руководство

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42 — FAQ AND TROUBLESHOOTING
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https://bitbucket.org/qbrobotics/qbhand-ros/src/dd75e2f70bbb470be4a2360177dbde6a7afbd638/
qb_hand_description/meshes/?at=production-kinetic
GENERAL MANUAL — SEP 8, 2022 — RELEASE: V1.0.2
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8.2.2 Solution
We provides only simplified geometries of the qb SoftHand2 Research that you can find at our ROS
description repository
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(measures are expressed in millimeters).
As additional information, the phalanges are made of a polyamide 6 reinforced with 30% glass fiber
(discontinuously placed), with the following main properties:
density
: 1.36 [g/cm3]
;
tensile yield strength
: 165 [MN/m2]
;
tensile Young modulus
: 8500 [MN/m2]
;
percent elongation at break
: 3%
;
resilience (Izod method)
: 125 [J/m]
;
melting point
: 220 [°C]
;
Poisson ratio
: N/A
(for general polyamide 6, i.e. without glass fiber, it is approximately
0.4
).
8.3 The glove is deteriorated/broken
8.3.1 Problem
The glove is one of the component of the hand more prone to wear and tear.
The planned maintenance already makes up for this, but it may happen that the glove simply breaks
during the normal usage.
A damaged glove can affect repeatability and grasping performance.
8.3.2 Solution
Unfortunately is not possible to ship you a whole new glove and let you proceed with its replacement.
Both the glove and the cover which secures it to the hand are crucial components of the hand and only
assembling them inside our facilities guarantees the right setup and the advertised performance of
grasping.
WARNING:
Be aware that you must never grasp sharp objects, nor have them close to the robot during its
operation, cf. safety warnings
(see Page 3)
.

NOTE:
This is true also for the other elastic components inside the fingers.
