Five fingered robot hand

thingiverse

This robotic hand features internal ligaments that enable successive sections of the fingers to torsionally link, allowing for efficient use of a single tension element - in other words, you only need one tendon per three jointed finger. By reducing each finger to a single degree of freedom, its ability to firmly grasp cylindrical objects greatly improves. To assemble this robotic hand, follow these steps: Watch the video instructions here: https://youtu.be/CfB8Mrh1dSI Begin by pressing 6x10x3mm bearings between the finger sections - you can find these on the Technobots website under part number 4255-130. Next, thread nylon fishing line with an approximate tensile strength of 100daN and a diameter of 1.1mm through the finger sections to connect the top of one joint to the bottom of the adjacent section two down - for instance, link the top of the knuckle to the underside of the middle section, then attach the top of the first section to the bottom of the tip section and vice versa. Complete the assembly by attaching dyneema tendons - spread out the ends of a dyneema kiteline, embed the fibers in polymorph, and you're done. A single spring made from 3mm polyurethane tubing extends the fingers when attached to the top of the knuckle.