Barrett BarrettHand BH8-280 Manuals

Manuals and User Guides for Barrett BarrettHand BH8-280. We have 1 Barrett BarrettHand BH8-280 manual available for free PDF download: User Manual

Barrett BarrettHand BH8-280 User Manual (89 pages)

Brand: Barrett | Category: Robotics | Size: 5 MB

Table of Contents
1
Table of Contents
2
List of Figures
4
List of Tables
6
List of Equations
6
System Description
7
Standard Bh8-Series System Components
7
System Features
7
Documentation
7
Barretthand
8
Figure 1 - Barretthand
8
Power Supply
9
Figure 2 - Barretthand™ Bh8-28X 48-Volt Universal Power Supply
9
Electrical Cables
10
Figure 3 - Usb to Can Adapter for Bh8-280 Barretthand
10
Figure 4 - Earlier Barretthand™ Bh8-Series 24-Volt Power Supply
11
Figure 5 - Cable Connections to the Earlier Bh8-Series Power Supply
11
Lab Bench Stand
12
Control Software and Firmware
12
Figure 6 - Lab Bench Stand
12
Maintenance Kit
13
System Options
14
Arm Adapter
14
Strain Gage Joint-Torque Sensors
14
Control Software/Firmware Upgrades
14
Figure 7 - Arm Adapter
14
Safety and Cautions
15
System Setup
16
Mounting Method 1: Lab Bench Stand
16
Mounting Method 2: O Nrobot Arm
16
Robot-Arm Adapter
16
Figure 8 - Lab Bench Stand with Wire Strain Relief
16
Installing the Hand Cable on a Robot Arm
17
Figure 9 - Installing an Arm Adapter
17
Electrical Connections
18
Figure 10 - Bh8-280 Quick-Start Guide
18
Host Computer
19
Ontrol Software
19
Power-Up Sequence
19
Upload Firmware
20
Table 1 - Firmware File List
20
Control Modes - Supervisory and Realtime
21
Supervisory Control Mode
22
Overview
22
Commands
22
Motor Commands
22
Table 2 - Motor Prefixes
22
Status Codes
23
Command List
23
Movement Commands
23
Table 3 - Hand Status Codes
23
Motor Property Commands
25
Global Property Commands
26
Administrative Commands
28
Advanced Commands
29
Motor Properties
29
Movement
29
Status
31
Realtime
32
Advanced
34
Global Properties
37
Configuration
37
Status
38
Advanced
38
Termination Conditions for Movement Commands
39
Bh8-280 Implementation
39
Realtime Control
41
Pucks in Hand Api
41
Overview of Serial Protocol for Earlier Hands
42
Control and Feedback Blocks
42
Control Blocks
42
Feedback Blocks
43
Loop Feedback Delta Position
43
Property Summary
44
Example
45
Table 4 - Realtime Finger Control Properties for the Bh8-262
45
Table 5 - Realtime Global Control Properties
45
Maintenance
47
Finger Cable Pretension
47
Figure 11 - Hex Set Screw
47
Figure 12 - Pretensioning the Tendon Cable
48
Fastener Check
49
Figure 13 - Important Fastener Locations
49
Lubrication
50
Table 6 - Lubrication Schedule
50
Finger Replacement
51
Figure 14 - Lubricant Application Points
51
Figure 15: Prepare Barretthand
52
Figure 16: Locate Shoulder Screw
52
Figure 17: Gently Lift and Rotate Finger off
53
Figure 18: Slowly Pull Finger Away from Motor Body
53
Figure 19: Adjust Angle of 2Nd Link
53
Figure 20: Check/Adjust the Finger Angle
54
Figure 21: Close-Up of Electrical "Pogo" Pins
54
Figure 22: Apply Downwards Pressure and Secure Shoulder Screw
55
Strain Gages
56
Figure 23 - Shroud Removal
56
Figure 24 - Balancing Potentiometer
57
Troubleshooting
58
Figure 25 - Cable and Idler Pulley
59
Figure 26 - Manual Torque Switch Activation
61
Figure 27 - Manual Torqueswitch™ Activation Drive Holes
61
Theory of Operation
64
Electronic Architectures
64
Low-Level Motor Control
65
Figure 28 - Barretthand™ Controller Block Diagram
65
Table 7 - Barretthand™ Motor Properties
65
Trapezoidal Control
66
Velocity Control
66
Mechanisms
66
Torqueswitch
66
Figure 29 - Barrett's Patented Torqueswitch™ Mechanism
67
Figure 30 - Torqueswitch™ Operation
68
Figure 31 - Breakaway Force Curve
69
Spread Motion
70
Figure 32 - Stalled Fingertip Force Vs. Commanded Velocity (Measured before Breakaway)
70
Optional Strain Gage Joint-Torque Sensor
71
Figure 33 - Pinch Grasp Torque
71
Figure 34 - Strain Gage Joint-Torque Sensor
72
Forward Kinematics
73
Figure 35 - Strain Gage Torque Curves
73
Equation 1 - Homogeneous Transform between Frame {I-1} and {I
73
Figure 36 - Barretthand™ in Zero Position
74
Table 8 - D-H Parameter Values for All Fingers
74
Equation 2 - Forward Kinematics from Wrist Frame to Fingertip
74
Figure 37 - D-H Frame Assignment for Generalized Finger
75
Table 9 - D-H Link Parameters for Fingers
75
Equation 3 - Forward Kinematics Matrix for Finger F1
76
Joint Properties
77
Encoder to Joint Ratios
77
Table 10 - Finger and Spread Joint Ratios
77
Equation 4 - Joint 3 Positions before and after Breakaway
77
Joint Motion Limits
78
Figure 38 - Finger Joint Motion Limit Range
78
Figure 39 - Spread Joint Motion Limit Range
79
Appendix A Technical Specifications
80
Figure 40 - Barretthand™ Dimensions
81
Appendix B Faq
82
Figure 41 - Torqueswitch™ Activation Graph
83
Appendix C Glossary
84
Appendix D Pucks in Hand Protocol
86
Index
87

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