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8 — TECHNICAL DATA
On the left, it is represented the mechanical interface coordinate system Σ
articulated robot, as defined by ISO 9787:2013. In particular, the center of the coordinate system, O
on the interface surface of the robot tool flange and the Z
symmetry. R
is the i-th revolute joint of the robot and (O
i
robot.
On the right, there is the Tool Coordinate System, Σ
coincides with the center of mass of the hand and its position is defined by the distance from O
axis is normal to the palm, outgoing positive, and the Y
orientation. This definition implies that Σ
orientation of X
axis will be on the side of the thumb in the right hand and on the side opposite to the
T
thumb in the left hand.
3.3 Mechanical characteristics
Pinch grasping payload
Power grasping payload
Open pinch grasping payload
Manipulation torque
Index pushing force
Look at the graph for details.
For this SVG the export flag is not set!
For this SVG the export flag is not set!
GENERAL MANUAL — SEP 8, 2022 — RELEASE: V1.0.2
Figure 2. — Robot Tool Coordinate System
Full closing time
axis is coincident with the tool flange axis of
M
; X
, Y
1
1
(O
; X
, Y
T
T
T
axis follows the proximal-distal direction and
T
is the same for left and right SoftHands. So, the positive
T
[kg]
[kg]
[kg]
[Nmm]
[N]
[s]
(O
M
M
, Z
) is the base coordinate system of the
1
1
, Z
), of the SoftHand. The center, O
T
T
BEST VALUE
; X
, Y
, Z
) of an
M
M
M
, is
M
,
T
. The Z
M
T
2.0
3.0
30
50
0.5
1.0
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