User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
5
1 System Component Descriptions
1.1 BarrettArm (BA4-310)
The BarrettArm BA4-310 is a high-speed, 4-degree-of-freedom (4-DOF) manipulator with
human-like kinematics. With its aluminum frame and advanced cable-drive systems, including
a patented cabled differential, the BarrettArm is lightweight with no backlash, extremely low
friction, and stiff transmissions. All of these characteristics contribute to its high-bandwidth
performance. The BarrettArm is the ideal platform for implementing Whole Arm Manipulation
(WAM), advanced force control techniques, and high precision trajectory control.
Various areas of the robot are user-accessible via the easy removal of a few protective covers.
The motor and the drive cables for Axis 0 are accessed by releasing the four draw latches on
the Base Cover and sliding the cover toward the front of the robot. Access to the mechanical
cables for Axes 1, 2, and 3 is achieved by pulling off the plastic covers from the robot
“shoulder” and removing the metal shield on one side, which provides a barrier between
electrical wires and high-speed mechanical cables.
A quick-connect mechanism is located at the output of the “elbow” on the BarrettArm allowing
the user to make all electrical and mechanical connections with the optional 3-DOF
BarrettWrist in a single step (see Section 3). This interface can also be made to accommodate a
wide range of other powered or unpowered components for attachment to the BarrettArm.
Figure 1 - BarrettArm BA4-310