Barrett BH8 Series Manuals

Manuals and User Guides for Barrett BH8 Series. We have 2 Barrett BH8 Series manuals available for free PDF download: User Manual

Barrett BH8 Series User Manual

Barrett BH8 Series User Manual (89 pages)

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

Table of Contents

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Barrett BH8 Series User Manual

Barrett BH8 Series User Manual (84 pages)

Brand: Barrett | Category: Robotics | Size: 1 MB

Table of Contents

Table of Contents

3
List of Figures

5
List of Tables

6
List of Equations

6
1 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 - Barrett Hand
    9
  - Lab Bench Stand
    10
  - Electrical Cables
    10
  - Figure 3 - Lab Bench Stand
    10
  - Control Software and Firmware
    11
  - Figure 4 - Cable Connections
    11
  - Maintenance Kit
    12
- System Options
  13
  - Arm Adapter
    13
  - C-Function Library
    13
  - Figure 5 - Arm Adapter
    13
  - Strain Gage Joint-Torque Sensors
    14
  - Control Software/Firmware Upgrades
    14
2 Safety and Cautions

15
3 System Setup

16
- Mounting Method 1: Lab Bench Stand
  16
- Mounting Method 2: O Nrobot Arm
  16
- Electrical Connections
  18
- Host Computer
  18
- Installing Bh8-Series Control Software
  18
- Power-Up Sequence
  18
- Download Firmware
  19
4 Control Modes - Supervisory and Realtime

19
5 Supervisory Control Mode

21
- Overview
  21
  - Commands
    21
  - Motor Commands
    21
  - Status Codes
    21
- Command List
  22
  - Movement Commands
    22
  - Motor Parameter Commands
    24
  - Global Parameter Commands
    25
  - Administrative Commands
    27
  - Advanced Commands
    28
- Motor Parameters
  28
  - Movement
    28
  - Status
    30
  - Realtime
    31
  - Advanced
    33
- Global Parameters
  36
  - Configuration
    36
  - Status
    36
  - Advanced
    37
- Termination Conditions for Movement Commands
  37
6 Realtime Control

39
- Overview
  39
- Control and Feedback Blocks
  39
  - Control Blocks
    40
  - Feedback Blocks
    40
  - Loop Feedback Delta Position
    41
- Parameter Summary
  41
- Example
  43
7 Maintenance

43
- Finger Cable Pretension
  43
- Figure 8 - Hex Set Screw
  44
- Figure 9 - Pretensioning Thet
  45
- Fastener Check
  46
- Figure 10 - Important Fastener
  46
- Lubrication
  47
- Figure 11 - Lubricant Application
  48
- Figure 12 - Finger Attachment
  49
- Figure 13 - Removing Thef
  49
- Figure 14 - Resetting Thef
  50
- Strain Gages
  51
- Figure 15 - Reattachingf
  51
- Figure 16 - Shroud Removal
  52
- Figure 17 - Balancingp
  52
8 Troubleshooting

53
9 Theory of Operation

60
- Electronic Architecture
  60
- Figure 21 - Barrett Hand ™ C
  60
- Low-Level Motor Control
  61
  - Trapezoidal Control
    61
  - Velocity Control
    61
- Mechanisms
  62
  - Torqueswitch
    62
  - Figure 22 - Barrett ' S Patented
    62
  - Figure 23 - Torque Switch ™ O
    64
  - Figure 24 - Breakaway Force
    65
  - Spread Motion
    66
  - Figure 25 - Stalled Finger Tip
    66
- Optional Strain Gage Joint-Torque Sensor
  67
- Figure 26 - Pinch Grasp Torque
  67
- Figure 27 - Strain Gage Joint -T
  68
- Kinematics
  69
- Figure 28 - Strain Gage Torque
  69
- Figure 29 - Barrett Hand ™ in
  70
- Joint Motion Limits
  73
- Figure 31 - Finger Joint Motion Limit
  74
- Figure 32 - Spread Joint Motion Limit
  75
Appendix Atechnical Specifications

76
- Figure 33 - Barrett Hand ™ D
  77
Appendix Bfaq

78
- Figure 34 - Torque Switch ™ a
  79
Appendix Cglossary

80
Index

82

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