Barrett BH8 Series Manuel utilisateur

BarrettHand™

BH8-Series User Manual

Firmware Version 4.3x

Document: D3000

Version: AF.00

BH8-Series – User’s Manual [email protected] www.barrett.com

Table of Contents

TABLE OF CONTENTS............................................................................................................... 1

LIST OF FIGURES ....................................................................................................................... 3

LIST OF TABLES ......................................................................................................................... 4

LIST OF EQUATIONS................................................................................................................. 4

SYSTEM DESCRIPTION..................................................................................................... 5

1.1

STANDARD BH8-SERIES SYSTEM COMPONENTS............................................................. 5

1.1.1

System Features........................................................................................................ 5

1.1.2

Documentation......................................................................................................... 5

1.1.3

BarrettHand™.......................................................................................................... 6

1.1.4

Power Supply............................................................................................................ 7

1.1.5

Lab Bench Stand....................................................................................................... 8

1.1.6

Electrical Cables...................................................................................................... 8

1.1.7

Control Software and Firmware .............................................................................. 9

1.1.8

Maintenance Kit..................................................................................................... 10

1.2

SYSTEM OPTIONS............................................................................................................ 11

1.2.1

Arm adapter............................................................................................................ 11

1.2.2

C-Function Library ................................................................................................ 11

1.2.3

Strain gage Joint-Torque Sensors.......................................................................... 12

1.2.4

Control Software/Firmware Upgrades................................................................... 12

SAFETY AND CAUTIONS ................................................................................................ 13

SYSTEM SETUP ................................................................................................................. 14

3.1

MOUNTING METHOD 1: LAB BENCH STAND .................................................................. 14

3.2

MOUNTING METHOD 2: ON ROBOT ARM ....................................................................... 14

3.2.1

Robot-Arm Adapter ................................................................................................ 14

3.2.2

Installing the Hand Cable on a Robot Arm............................................................ 15

3.3

ELECTRICAL CONNECTIONS............................................................................................ 16

3.4

HOST COMPUTER ............................................................................................................ 16

3.5

INSTALLING BH8-SERIES CONTROL SOFTWARE........................................................... 16

3.6

POWER-UP SEQUENCE .................................................................................................... 16

3.7

DOWNLOAD FIRMWARE.................................................................................................. 17

CONTROL MODES – SUPERVISORY AND REALTIME ........................................... 17

SUPERVISORY CONTROL MODE................................................................................. 19

5.1

OVERVIEW ...................................................................................................................... 19

5.1.1

Commands.............................................................................................................. 19

5.1.2

Motor commands.................................................................................................... 19

5.1.3

Status Codes........................................................................................................... 19

5.2

COMMAND LIST .............................................................................................................. 20

5.2.1

Movement Commands ............................................................................................ 20

5.2.2

Motor parameter commands .................................................................................. 22

5.2.3

Global parameter commands................................................................................. 23

5.2.4

Administrative commands ...................................................................................... 25

5.2.5

Advanced commands.............................................................................................. 26

5.3

MOTOR PARAMETERS ..................................................................................................... 26

BH8-Series – User’s Manual [email protected] www.barrett.com

5.3.1

Movement ...............................................................................................................26

5.3.2

Status ...................................................................................................................... 28

5.3.3

RealTime.................................................................................................................29

5.3.4

Advanced ................................................................................................................ 31

5.4

GLOBAL PARAMETERS ....................................................................................................34

5.4.1

Configuration..........................................................................................................34

5.4.2

Status ...................................................................................................................... 34

5.4.3

Advanced ................................................................................................................ 35

5.5

TERMINATION CONDITIONS FOR MOVEMENT COMMANDS.............................................. 35

REALTIME CONTROL.....................................................................................................37

6.1

OVERVIEW ......................................................................................................................37

6.2

CONTROL AND FEEDBACK BLOCKS.................................................................................37

6.2.1

Control Blocks........................................................................................................38

6.2.2

Feedback Blocks.....................................................................................................38

6.2.3

Loop Feedback Delta Position ............................................................................... 39

6.3

PARAMETER SUMMARY................................................................................................... 39

6.4

EXAMPLE ........................................................................................................................41

MAINTENANCE .................................................................................................................41

7.1

FINGER CABLE PRETENSION............................................................................................ 41

7.2

FASTENER CHECK ...........................................................................................................44

7.3

LUBRICATION.................................................................................................................. 45

7.4

STRAIN GAGES ................................................................................................................49

TROUBLESHOOTING.......................................................................................................51

THEORY OF OPERATION...............................................................................................58

9.1

ELECTRONIC ARCHITECTURE ..........................................................................................58

9.2

LOW-LEVEL MOTOR CONTROL....................................................................................... 59

9.2.1

Trapezoidal Control ...............................................................................................59

9.2.2

Velocity Control...................................................................................................... 59

9.3

MECHANISMS..................................................................................................................60

9.3.1

TorqueSwitch™......................................................................................................60

9.3.2

Spread Motion ........................................................................................................ 64

9.4

OPTIONAL STRAIN GAGE JOINT-TORQUE SENSOR........................................................... 65

9.5

KINEMATICS....................................................................................................................67

9.6

JOINT MOTION LIMITS.....................................................................................................71

APPENDIX A

TECHNICAL SPECIFICATIONS .............................................................74

APPENDIX B

FAQ................................................................................................................76

APPENDIX C

GLOSSARY ..................................................................................................78

INDEX...........................................................................................................................................80

BH8-Series – User’s Manual [email protected] www.barrett.com

List of Figures

FIGURE 1-BARRETTHAND™ ........................................................................................................... 6

FIGURE 2-BARRETTHAND™BH8-SERIES NEW 24-VOLT POWER SUPPLY.................................... 7

FIGURE 3-LAB BENCH STAND ......................................................................................................... 8

FIGURE 4-CABLE CONNECTIONS ..................................................................................................... 9

FIGURE 5-ARM ADAPTER............................................................................................................... 11

FIGURE 6-LAB BENCH STAND WITH WIRE STRAIN RELIEF............................................................ 14

FIGURE 7-INSTALLING AN ARM ADAPTER..................................................................................... 15

FIGURE 8–HEX SET SCREW............................................................................................................ 42

FIGURE 9-PRETENSIONING THE TENDON CABLE ........................................................................... 43

FIGURE 10 -IMPORTANT FASTENER LOCATIONS............................................................................. 44

FIGURE 11 -LUBRICANT APPLICATION POINTS............................................................................... 46

FIGURE 12 -FINGER ATTACHMENT-SCREW LOCATION................................................................... 47

FIGURE 13 -REMOVING THE FINGERS FOR MAINTENANCE ............................................................. 47

FIGURE 14 -RESETTING THE FINGERTIP POSITION AFTER FINGER REMOVAL ................................. 48

FIGURE 15 -REATTACHING FINGERS AFTER MAINTENANCE........................................................... 49

FIGURE 16 -SHROUD REMOVAL ..................................................................................................... 50

FIGURE 17 -BALANCING POTENTIOMETER ..................................................................................... 50

FIGURE 18 -CABLE AND IDLER PULLEY.......................................................................................... 52

FIGURE 19 -MANUAL TORQUE SWITCH ACTIVATION..................................................................... 54

FIGURE 20 -MANUAL TORQUESWITCH™ACTIVATION DRIVE HOLES........................................... 55

FIGURE 21 –BARRETTHAND™CONTROLLER BLOCK DIAGRAM.................................................... 58

FIGURE 22 -BARRETT'S PATENTED TORQUESWITCH™MECHANISM ............................................. 60

FIGURE 23 -TORQUESWITCH™OPERATION................................................................................... 62

FIGURE 24 -BREAKAWAY FORCE CURVE ....................................................................................... 63

FIGURE 25 –STALLED FINGERTIP FORCE VS.COMMANEDED VELOCITY (MEASURED BEFORE

BREAKAWAY).......................................................................................................................... 64

FIGURE 26 -PINCH GRASP TORQUE ................................................................................................ 65

FIGURE 27 -STRAIN GAGE JOINT-TORQUE SENSOR........................................................................ 66

FIGURE 28 -STRAIN GAGE TORQUE CURVES.................................................................................. 67

FIGURE 29 -BARRETTHAND™IN ZERO POSITION.......................................................................... 68

FIGURE 30 -D-H FRAME ASSIGNMENT FOR GENERALIZED FINGER................................................ 69

FIGURE 31 -FINGER JOINT MOTION LIMIT RANGE........................................................................... 72

FIGURE 32 -SPREAD JOINT MOTION LIMIT RANGE.......................................................................... 73

FIGURE 33 -BARRETTHAND™DIMENSIONS .................................................................................. 75

FIGURE 34 –TORQUESWITCH™ACTIVATION GRAPH .................................................................... 77

BH8-Series – User’s Manual [email protected] www.barrett.com

List of Tables

TABLE 1-FIRMWARE FILE LIST......................................................................................................17

TABLE 2-MOTOR PREFIXES ...........................................................................................................19

TABLE 3-HAND STATUS CODES.....................................................................................................20

TABLE 4-REALTIME FINGER CONTROL PARAMETERS...................................................................40

TABLE 5-REALTIME GLOBAL CONTROL PARAMETERS..................................................................40

TABLE 6-LUBRICATION SCHEDULE................................................................................................45

TABLE 7-BARRETTHAND™MOTOR PROPERTIES..........................................................................59

TABLE 8-D-H PARAMETER VALUES FOR ALL FINGERS..................................................................68

TABLE 9-D-H LINK PARAMETERS FOR FINGERS............................................................................69

List of Equations

EQUATION 1-HOMOGENEOUS TRANSFORM BETWEEN {I-1}AND {I}.............................................67

EQUATION 2-FORWARD KINEMATICS FROM FINGERTIP TO WORLD...............................................68

EQUATION 3-FORWARD KINEMATICS FOR FINGER F1 ...................................................................70

EQUATION 4-MOTOR TO JOINT ANGLE TRANSFORM BEFORE TORQUESWITCH™ACTIVATION.....70

EQUATION 5-MOTOR TO JOINT ANGLE TRANSFORM AFTER TORQUESWITCH™

ACTIVATION ......71

BH8-Series – User’s Manual [email protected] www.barrett.com

1 System Description

1.1 Standard BH8-SERIES System Components

1.1.1 System Features

Thank you for choosing the BarrettHand™ Grasper™. The BarrettHand™ is designed to

overcome the inflexibility of conventional grippers with microprocessor-enabled dexterity while

maintaining durability, compactness, and ease of use. The BarrettHand™ is a multi-fingered

Grasper™ with the dexterity to secure target objects of different sizes, shapes, and orientations.

Rather than rely on pinching gripper friction or permanent gripper-jaw shape customization the

BarrettHand™ gently envelops the object, securely locking its joints until commanded to release.

System integration with any robotic arm is fast and simple. Even with its low, 1.2-kg, weight and

compact form, it is totally self-contained. The BarrettHand™ uses industry-standard serial

communications, which is the common denominator of communications, for guaranteed universal

compatibility. While the bandwidth of serial communications may limit less intelligent

equipment, the five (5) on-board microprocessors combined with Barrett’s open Grasper Control

Language (GCL) endows the BarrettHand™ with millisecond response.

The compactness and low weight of the BarrettHand™ 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 palm shell, reducing electrical

wiring to a single cable carrying all communications and motor power.

We hope that you enjoy the versatility and functionality of the BarrettHand™. Please never

hesitate to give feedback and to ask for advice as needed. US+617-252-9000,

<service@barrett.com>, or <http://www.barrett.com/robot/>.

1.1.2 Documentation

The baseline turnkey BarrettHand™ (without the optional C++ Function Library) comes with two

(2) manuals:

1. BH8-SERIES User Manual for setup and basic operation (this manual)

2. BHControl Interface Manual

The User Manual (this manual) covers:

This manual is up-to-date as of version 4.34 of the BarrettHand™ firmware.

•System components and options

•System setup and operation

•Maintenance

•Troubleshooting

•Theory of operation

•Technical specifications

•Frequently asked questions

The second manual is the BHControl Interface Manual for the BHControl Windows Interface,

which enables immediate functionality in 3 different ways ranging from easy and intuitive to

sophisticated. Refer to the BHControl Interface Manual for detailed instructions.

Both manuals come to you in printed form, electronic form on the Control Software CD ROM,

and in the customer-only section of the Barrett web site.

BH8-Series – User’s Manual [email protected] www.barrett.com

1.1.3 BarrettHand™

The BarrettHand™, shown in Figure 1, has three fingers labeled 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 BarrettHand™ feature two joints

driven by a single DC brushless servo motor. The joints of each finger are coupled through

Barrett’s patented TorqueSwitch™, which automatically switches motor torque to the appropriate

finger joint when closing on a target object. Using the fingers together allows the BarrettHand™

to "grasp" a wide variety of objects securely. The TorqueSwitch™ combined with the spread

function, makes object grasping nearly target-independent.

The BarrettHand™, shown in Figure 1, is equipped with a threaded base for compact and secure

mounting. The threaded base is fully compatible with the BarrettArm. And, with the arm adapter,

it can be mounted on virtually any robot with a standard ISO tool plate, for easy installation and

maintenance.

F1 and F2 Spread

around the Palm

F2 F1

Onboard Control

Electronics Package in

Palm Shell

Threaded

Ring for

Quick

Connection

TorqueSwitch™

Shifts Torque to

Appropriate Finger

Joint

Figure 1 - BarrettHand™

BH8-Series – User’s Manual [email protected] www.barrett.com

1.1.4 Power Supply

The Power Supply for the BH8-SERIES, shown in Figure 2, can be plugged into any regular AC

power source. It provides DC motor bus power (24V), electronic component logic power (5V),

and supports RS-232 communications between the host computer (via the serial cable) and the

control electronics in the BarrettHand™ palm shell (via the Hand cable). This Power Supply

switches automatically to local voltage standards (95-130 & 190-260 VAC at 50-60Hz) around the

globe and contains built-in surge protection.

All three cables required to operate the BH8-SERIES connect to the Power Supply:

1. Line Cord supplying AC line voltage.

2. Serial Cable supporting RS-232 communications from the host computer.

3. Hand Cable which carries DC power and RS-232 to the BarrettHand™.

Figure 2 - BarrettHand™ BH8-SERIES new 24-Volt Power Supply

BH8-Series – User’s Manual [email protected] www.barrett.com

1.1.5 Lab Bench Stand

The bench mount stand for the BarrettHand™, shown in Figure 3, is ideal for off-arm

development. The durable Lexan® stand comes complete with cable management clips and

mounting features to hold your BarrettHand™ unit securely on any flat surface. Non-slip rubber

feet keep the stand from sliding during testing and programming.

Figure 3 - Lab Bench Stand

1.1.6 Electrical Cables

All necessary electrical cables are included in the basic BH8-SERIES System, shown in Figure 4.

An AC Line Cord connects the Power Supply to a wall source. A Serial Cable connects the Power

Supply and the host computer robot controller to establish the RS-232 communication link. The

Hand Cable connects the Power Supply to the BarrettHand™, supplying communications, logic

power, and motor power. This cable is durable and flexible, allowing the BarrettHand™ to be

used on any robot with minimal effect on robot performance. Use the included set of adhesive

guide clips for cable management. Since the control electronics reside inside the BarrettHand™

itself, no other electrical cabling is required.

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