System Description; What's New In The 610-Series Wraptor; Introduction; About The Wraptor - Barrett Wraptor BH8-610 Series User Manual

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Wraptor™ User Manual

service@barrett.com

www.barrett.com

1 System Description

We upgraded the motor feedback sensor from an optical sensor to a more robust magnetic one.

Thank you for choosing the Wraptor™. The Wraptor™ is designed to overcome the inflexibility of conventional industrial

grippers with DSP-enabled dexterity while maintaining durability, compactness, and ease of use. The Wraptor™ is a multi-

fingered grasper with the dexterity to secure target objects of different sizes, shapes, and orientations. Rather than rely on

gripper friction from pinching or permanent gripper-jaw-shape customization, the Wraptor™ gently envelops targets,

securely locking its joints until commanded to release the target.

System integration with any robotic arm is fast and simple. Even with its low, 7-kg, weight and compact form, it is totally

self-contained. The Wraptor™ uses industry-standard Ethernet communications, which is the common denominator of

network communications, for guaranteed universal compatibility. Eight (8) on-board DSPs combined with Barrett's open

Grasper Control Language (GCL) endow the Wraptor™ with millisecond responsiveness.

The compactness and low weight of the Wraptor™ assures that the enhanced dexterity does not compromise arm payload.

Its low mass and short base-to-grasp-center distance minimize joint loading on the host robot and reduce extraneous arm

movements during object reorientation. The custom control-electronics package is contained entirely within the Wraptor™,

reducing electrical wiring to a single cable carrying only Ethernet communications and DC power.

We hope that you enjoy the versatility and functionality of the Wraptor™. Please never hesitate to give feedback to Barrett's

engineers and to ask Barrett's engineers for advice. You may contact Barrett's engineers at <service@barrett.com>, or

US+617-252-9000, or at <http://www.barrett.com/robot/>.

The Wraptor™ has three fingers identified as 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 Wraptor™ feature two joints driven by separate DC brushless servo motors. When the inner joint

contacts an object, the outer joint continues to close around it, making a secure grasp. Using the fingers together allows the

Wraptor™ to "grasp" a wide variety of objects securely. The multi-jointed fingers, combined with the spread function, make

object grasping nearly target-independent.

Figure 1: Isometric view of Wraptor showing Finger and Motor numbers

Document: D2000, Version: AB.00

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