User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
2
5 BARRETTARM CABLE MAINTENANCE ............................................................................. 31
5.1 G
ENERAL
A
RM
C
ABLE
C
IRCUIT
D
ESCRIPTIONS
......................................................................31
5.1.1 F
IRST
-S
TAGE
C
ABLE
P
ATH
D
ESCRIPTION
................................................................................32
5.1.2 S
ECOND
-S
TAGE
C
ABLE
P
ATH
D
ESCRIPTION
............................................................................33
5.2 H
ELPFUL
T
OOLS
& T
IPS
..........................................................................................................33
5.3 B
ASE
J
OINT
(J1 & M0).............................................................................................................34
5.3.1 2
ND
S
TAGE
...............................................................................................................................35
5.3.2 1
ST
S
TAGE
................................................................................................................................37
5.4 D
IFFERENTIAL
O
UTPUT
(J2 & J3)............................................................................................39
5.5 D
IFFERENTIAL
I
NPUT
(J2 & J3, M1 & M2).............................................................................40
5.5.1 2
ND
S
TAGE
...............................................................................................................................40
5.5.2 1
ST
S
TAGE
................................................................................................................................43
5.6 E
LBOW
J
OINT
(J4, M3).............................................................................................................45
5.6.1 2
ND
S
TAGE
...............................................................................................................................46
5.6.2 1
ST
S
TAGE
................................................................................................................................49
6 BARRETTWRIST CABLE MAINTENANCE ......................................................................... 56
6.1 G
ENERAL
W
RIST
C
ABLE
C
IRCUIT
D
ESCRIPTIONS
...................................................................56
6.2 H
ELPFUL
T
OOLS
& T
IPS
..........................................................................................................56
6.3 D
IFFERENTIAL
O
UTPUT
(J5 & J6, M4 & M5)..........................................................................57
6.4 D
IFFERENTIAL
I
NPUT
(J5 & J6, M4 & M5).............................................................................59
6.4.1 L
EFT
S
IDE
...............................................................................................................................59
6.4.2 R
IGHT
S
IDE
.............................................................................................................................63
6.4.3 P
RE
-
TENSIONING
I
NPUT
S
TAGES
..............................................................................................65
APPENDIX A - DENAVIT-HARTENBERG FRAMES .............................................................. 67
APPENDIX B - MOTOR-TO-JOINT POSITION TRANSFORMATIONS ............................... 69
APPENDIX C - MOTOR-TO-JOINT TORQUE TRANSFORMATIONS ................................. 71
APPENDIX D - FORWARD KINEMATICS ............................................................................... 73
APPENDIX E - INTEGRATION OF OPTIONAL BARRETTHAND (BH8-250) ...................... 75