Barrett WAM Arm - List of Tables; List of Equations

WAM Arm – User’s Manual support@barrett.com www.barrett.com
© 2008 Barrett Technology®, Inc. Document: D1001, Version: AH.00 5 of 80
List of Tables
TABLE 1 – WAM COMMUNICATION SETTINGS ............................................................................... 22
TABLE 2 – HAND COMMUNICATION AND POWER SETTINGS ........................................................... 22
TABLE 3 – DC POWER REQUIREMENTS ........................................................................................... 23
TABLE 4 – 4-DOF WAM FRAME PARAMETERS (WITH BLANK OUTER LINK INSTALLED) ................. 64
TABLE 5 – 7-DOF WAM FRAME PARAMETERS............................................................................... 64
TABLE 6 – JOINT LIMITS ................................................................................................................. 65
TABLE 7 – 4-DOF WAM + GIMBALS DH PARAMETERS................................................................. 67
TABLE 8 – ARM TRANSMISSION RATIOS ......................................................................................... 68
TABLE 9 – MAXIMUM TORQUE (MT) MA TO NM CONVERSION TABLE............................................ 75
List of Equations
EQUATION 1 – D-H GENERALIZED TRANSFORM MATRIX ................................................................. 64
EQUATION 2 – D-H MATRIX EXAMPLE ........................................................................................... 64
EQUATION 3 – TOOL FRAME MATRIX .............................................................................................. 65
EQUATION 4 – TOOL END TIP POSITION AND ORIENTATION EQUATION FOR THE 4-DOF WAM ....... 65
EQUATION 5 – TOOL END TIP POSITION AND ORIENTATION EQUATION FOR THE 7-DOF WAM ....... 65
EQUATION 6 – WAM MOTOR-TO-JOINT POSITION TRANSFORMATIONS .......................................... 68
EQUATION 7 – WRIST MOTOR-TO-JOINT POSITION TRANSFORMATIONS.......................................... 68
EQUATION 8 – ARM JOINT-TO-MOTOR POSITION TRANSFORMATIONS ............................................ 68
EQUATION 9 – WRIST JOINT-TO-MOTOR POSITION TRANSFORMATION ........................................... 68
EQUATION 10 – ARM MOTOR-TO-JOINT TORQUE TRANSFORMATION.............................................. 69
EQUATION 11 – WRIST MOTOR-TO-JOINT TRANSFORMATIONS ....................................................... 69
EQUATION 12 – ARM JOINT-TO-MOTOR TORQUE TRANSFORMATIONS ............................................ 69
EQUATION 13 – WRIST JOINT-TO-MOTOR TORQUE TRANSFORMATIONS ......................................... 69