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TriFingerEdu v1


TriFinger Manipulator Platform

  • the manipulator platform has 9 torque-controlled degrees of freedom
  • it consists of 3 identical finger modules attached to an aluminum frame structure
  • the finger module is describes in detail here: Finger Module Page.
  • the frame an the required components are described below


Finger modules assembled - weight: 930g each


TriFinger Manipulator Platform - picture overlay
Picture: Felix Widmaier, Manuel Wüthrich and Shruti Joshi

Frame


Frame structure - t-slotted aluminum profiles

  • The frame structure consists of aluminum profiles from Item.
  • You will need the following components to build the frame.

Aluminum profiles


Item Aluminum profile

  • Item aluminum profiles - Size 8 - 40mm x 40mm - Item part number: 0.0.026.33
  • Cut the profiles to length according to this drawing.

Angle brackets


Item 90 degree angle bracket

  • 3 x 90 degree large angle brackets - Item part number: 0.0.411.32

End caps


Item end caps

  • 9 x end caps - size 8 - Item part number: 0.0.026.01

T-slot nuts


Item M5 t-slot nuts

  • T-slot nuts M5 - Item part number: 0.0.480.54

Center connector


3d printed frame center connector

  • 3d printed center connector - STL file

Barrier


Barrier - consisting of 3 polycarbonate sheets


3mm polycarbonate sheets

  • We use 3mm polycarbonate sheets to keep the objects inside of the manipulation area.
  • Cut the polycarbonate sheets to size according to this drawing.

Camera arm


Camera mount for Baseler camera

Cameras


Basler camera with Basler lens

  • Basler camera: acA720-520uc
  • Basler lens: C125-0418-5M

Assembly


Frame assembly - 6mm hex driver


Frame assembly - 6mm allen key

Transport


The finger modules can be stacked for transport. Weight: 8kg


All the components fit into a 1650 Pelican case. Total weight: 21kg

Upside down


The manipulator platform can also be used upside down

3D Model for Visualization

The simplified STL files for visualization and simulation can be found here: STL Files Visualization


Click on picture above to view the PDF drawing

View the TriFinger cad model in your web browser


TriFinger Edu v1
Click on the picture to view the cad model in your browser

More Information

Open Dynamic Robot Initiative - Webpage
Open Dynamic Robot Initiative - YouTube Channel
Open Dynamic Robot Initiative - Forum
Open Dynamic Robot Initiative - Paper
Hardware Overview
Software Overview

Authors

Felix Grimminger

License

BSD 3-Clause License

Copyright

Copyright (c) 2019-2020, Max Planck Gesellschaft and New York University