In this Instructable, we see how to design, 3D-Print and test components of a Robotic Hand.
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I enjoy writing programs. I love building things. I don't build robots for a living, but I do design them for fun and research.
My team and I are considering building a robot for the DARPA Robotics Challenge.
And today, we're looking at hands.
We need a realistic, reasonably priced robotic hand platform to test some ideas with. When I shopped around, I found a lot of really good models that I didn't have the budget for yet. I wanted to see what could be designed using mostly 3D printed parts. I'm happy to share our experiences with you here.
For this hand design, we want to be able to try lots of different types of servos, tendons, sensors, and control software. I'm choosing to design the palm and fingers separately in an interchangeable and modular way, so the design can evolve with the project.
In this Instructable, I'll be focusing on the design and build of the fingers. I'll spend a little time showing the palm design and talk briefly about the plan for tendons and servos. The design was made using mostly OpenSCAD
, and we debug some of the control systems in V-Rep
in a later instructable.
If you are already familiar with OpenSCAD
, you can skip ahead.
If you like, you can jump directly to the printed fingers
Let's get started!...