Screwless (Almost) Robotic Anthropomorphic Hand
Branch: master
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
previous
LICENSE
README.md
gearModule.scad
sketch6_0v2.scad
sketch6_0v2.stl
sketch6_1_phalange.scad
sketch6_1_phalange.stl
sketch6_1_phalange_v02.scad
sketch6_2_phalange_proximal.scad
sketch6_2_phalange_proximal.stl
sketch6_2_phalange_proximal_v2.stl
sketch6_2_phalange_proximal_v3.stl
sketch6_3_metacarpal.scad
sketch6_3_metacarpal.stl
sketch6_3_metacarpal_v2.scad
sketch6_3_metacarpal_v2.stl
sketch6_3_metacarpal_v3.scad
sketch6_3_metacarpal_v3.stl
sketch6_3_metacarpal_v4.scad
sketch6_3_metacarpal_v4.stl
sketch6_3_metacarpal_v4_general.scad
sketch6_3_metacarpal_v5_longer.scad
sketch6_3_metacarpal_v5_longer.stl
sketch6_4_spool.scad
sketch6_4_spool.stl
sketch6_4_spool_lid.stl

README.md

Screwless (Almost) Robotic Anthropomorphic Hand

HISTORY

19 May 2018 - I downloaded a gearModule.scad script from somewhere in OpenSCAD forums and placed 4 gears together.

20 May 2018 - first prototype, sketch5_3 is done

21 May 2018 - sketch5_6, with limits

22 May 2018 - sketch5_7, flex-back

26 May 2018 - sketch6_1, _2

12 September 2018 - better metacarpal bones

14 September 2018 - metacarpal body sketch6_0v2, 4 finger prototype

Design

Nondestructive - this means that during assembly I do not glue, thread, break, melt anything. The whole hand can be later on disassembled and reassembled without breaking a thing. Servos can be unmodified, even the servo horn is not attached using a screw.

The whole design is made using source code-oriented tools, this simplifies sharing and modification of each element. Also, version control and comments.

Difference between this and Pisa IIT Softhand

More prominent gears for support, more wires for the Hillberry rolling joint. More 3D printer-friendly, as parts are generally designed to be printed without supports or with minimal amount.

Motors

Servo-oriented prototype

The hand with servos is easier to replicate, but the flexibility and freedom of design suffers greatly. Despite that, the prototype is working and properly actuated.

PowerHD HD-1800A (SG90 should work too with changed mounting dimensions)

Ideas storage for later:

Bearings

First stage - no bearings

Quite a bit of friction, but the hand seems controllable.

Second stage - for control wire routing only

chart: https://www.bearingworks.com/bearing-sizes/

MR52 - 2x5x2 1.50$ per 10 aliexpress MR62 - 2x6x2 1.50$ per 10 aliexpress

License

Whatever is mine (so without gearModule.scad) is licensed under CC-BY-4.0 - enjoy!