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Robotic Cooking Setup

The lab is equipped with the UR5-e robot arm that is linked with the BH8-series Barrett Hand.

BH-282 Barrett Hand

 

Built by Barrett Technology, the BH8-series Barrett Hand is a multi-fingered programmable grasper with 4 Degrees of freedom (DOF). The Barrett Hand is equipped with tactile sensors on the fingers and the palms. It also has a torque sensor about the last joint in each finger. These provide localized pressure readings across the palm and fingers. For more details regarding the specifications consult the tables below:

Maximum payload
6.0 Kg / 13.23 lb

Finger speed
Finger open to close : 1.0 sec
Full 180 degree spread : 0.5 sec

Kinematics
Total fingers : 3 (1 fixed and 2 rotatable
Total hand axes : 8

Range of motion
Finger base joint : 140掳
Fingertip joint : 45掳
Finger spread : 180掳

Fingertip torque sensors
Range : 卤1 Nm
Resolution : 卤0.04 Nm

Tactile sensors
Quantity : 96 Active cells
Range : 10 N/cm虏
Palm resolution : 0.02 N/cell (cell area = 1.0 cm虏)
Finger resolution : 0.01 N/cell (cell area = 0.3 cm虏)
Fingertip resolution : 0.01 N/cell (cell area = 0.15 cm虏)