MRI: Acquisition of a Barrett Robot Hand System

  • Dawson, Darren (PI)
  • Schalkoff, Robert (CoPI)
  • Paul, Frank (CoPI)
  • Walker, Ian (CoPI)
  • Rahn, Christopher D. (CoPI)

Project: Research project

Project Details

Description

EIA-9977310

Dawson, Darren M.

Paul, Frank W.

Clemson University

MRI: Acquisition of a Barrett Robot Hand System

To supplement the need for a sophisticated robotic test-bed used in ongoing and future research, this proposal requests funding for a Barrett Robot-Hand System. This robot allows a researcher to directly access and modify the sinusolidally commutated current amplifiers; hence, its open control architecture facilitates the design and development of advanced low-level position/force controllers for multiple degree of freedom robotic systems. More importantly, the multiple degrees of freedom and the end-effector mounted hand allow one to focus on specific dexterous manipulation problems. In addition, the requested system with its advanced, high-speed cable transmission system (peak velocity of 6 m/s and peak acceleration of 6 g's at the end-effector) facilitates high-speed manipulation.

StatusFinished
Effective start/end date9/1/998/31/02

Funding

  • National Science Foundation: $132,399.00

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