On going Project
ARDUINO CODE is available !
This is the design I reached at the end of a school project in Romania.
Special thanks to Diana Popescu.
Human sized robotic hand (sized and designed following measurments on y own hand).
6 degrees of actuation, 2 degrees of actuation for the thumb.
Seperated actuation of each finger.
Possibylity to do rock/aloa/middle finger/closed fist... sign.
It is actuated with 6 servo motors all included in the palm.
-6 servos 9g with screws
-elastic strings (1.5m) (any kind)
-textile fishing ropes (1.5m) (any kind at least 1kgF resistant, no nylon !)
-1 3D printer with some material (0.2 mm accuracy)
-1 arduino uno (or nano)
-1 6V power supply (with 2A max, 1A is enough for controlling all the hand, 2A is better for strong grabbing positions)
1 screw driver
1 pair of cisors
1 driller with 1mm drill
Dowload CAD files to upgrade or STL to print.
Feel free to go further and please contact me if you reach some good design or improvement :) !
license : Creative Commons , attribution - non-commercial - share alike.
You can use almost any 3D printer with a correct accuracy. dont forget support structure and raft ! ABS and PLA friendly !
Fingers design inspired from the design of Dylan Filtzsimmons, Steve Foy, Diego Guijarro and Albert Martin.
Overview and Background