Robotic Cooking Setup

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


Fig 1. UR5e and Barrett Hand link


BH-282 Barrett Hand


Fig 2. Barrett Hand with spread set to 0%



Fig 3. Barrett Hand with spread set to 50%



Fig 4. Barrett Hand with spread set to 100%


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°
  • Fingertip joint : 45°
  • Finger spread : 180°
Fingertip torque sensors
  • Range : ±1 Nm
  • Resolution : ±0.04 Nm
Tactile sensors
  • Quantity : 96 Active cells
  • Range : 10 N/cm²
  • Palm resolution : 0.02 N/cell (cell area = 1.0 cm²)
  • Finger resolution : 0.01 N/cell (cell area = 0.3 cm²)
  • Fingertip resolution : 0.01 N/cell (cell area = 0.15 cm²)

UR5e


Fig 5. UR5e image


Built by Universal Robotics, the UR5e is a lightweight and adaptable robot. It has 6 DOF and is seamlessly linked with the barrett hand mentioned above. For more details regarding the specifications consult the tables below:

Maximum payload 5.0 Kg / 11 lb
Reach 850 mm / 33.5 in
Joint range ±360° for all joints
Joint rotation speed max. 180° for all joints
Force/Torque sensor - Force, x-y-z
  • Range : 50 N
  • Resolution : 2.5 N
  • Accuracy : 4.0 N
Force/Torque sensor - Torque x-y-z
  • Range : 10 Nm
  • Resolution : 0.04 Nm
  • Accuracy : 0.3 Nm