Kinematics |
Total fingers: 3
Fingers which spread: 2
Joints per finger: 2
Motors per finger: 1
Axes of palm spread motion: 2
Motors for palm spread motion: 1
Total hand axes: 8
Total hand motors: 4 |
Range of Motion |
Finger base joint: 140°
Fingertip: 45°
Finger spread: 180° |
Finger Speed |
Finger fully open to fully closed:1.0 sec
Full 180° finger spread: 0.5 sec |
Position Sensing |
Type: optical incremental encoder
Resolution: 0.008° at the finger base joint
17,500 encoder counts full finger open to full close |
Weight |
Hand: 1.18 kg (2.60 lb)
Optional Arm Adapter B0133: 0.2 kg
(0.4 lb) additional |
Payload |
6.0 kg (13.2 lbs), 2.0 kg (4.4 lb) per finger |
Finger Forces (at tip) |
Active: 15 N (3.3 lb)
Passive: 20 N (4.4 lb) |
Motor Type |
Samarium-Cobalt, brushless, DC, servo motors |
Mechanisms |
Worm drives integrated with patented cable drive and breakaway clutch |
Cycles per Month |
10,000 |
Power Requirements |
Typical AC electrical outlet
Load: 600 W
Phases: Single
Voltage: 120/240 ±10% VAC
Frequency: 50/60 Hz |
Power Supply |
Location: dry, stationary surface
Size H,W,D: 295 x 145 x 40 mm
(11.8 x 5.7 x 1.7 in)
Weight: 1.3 kg (3.4 lb) |
Single Cable to Hand |
3m continuous-flex cable, 8mm diameter |
Dimensions |
See Diagram |
