Gripper Thumb Servo Attachment

thingiverse

Human: (files current as of 11/24/2019 - based on feedback from Adam Klaum, Donna Zimmerman and Tanya Lerch) This set of pieces is designed to attach a servo to the back end of a gripper thumb terminal device, enabling mechanical actuation using a switch. The total weight of the entire device is roughly 500 grams, which compares favorably with commercial options. It is a work in progress but has reached a point for beta testing. All files are for a RIGHT HAND. Mirror along appropriate axes for a left hand. The design has been made possible by funding from the eNABLE Fund. Video demonstration can be found here: https://www.youtube.com/watch?v=CpwPcxjP0b8&t=14s The files include: Servo horn - attaches to a servo to allow for the proper amount of travel to pull the thumb to an open position (no support needed) Servo Mount - attaches to the servo and contains screw holes for firmly securing outer covering (no support needed) Wrist Servo Attach - the servo mount slides into this piece which is screwed onto the end of a gripper thumb terminal device using 2 m3 x 60 screws and nuts (support from build plate suggested) Wrist Sheath - attaches to the backend of the Wrist Servo Attach piece to seal everything. Is secured to the device using 3 m3x6 screws. Holes are provided to run servo motor wiring to the control box (support from build plate suggested) Battery CPU Holder - casing for holding the batteries, arduino nano and DC female plug (support from build plate suggested) Battery CPU Holder Lid - lid for casing. Secured with 4 m3x6 screws (no support needed) Right Gripper Thumb Inner Channel - slight redesign of the thumb portion of the gripper device to use an internally routed string (support from build plate suggested) Right Gripper Thumb - simple reposting of the Gripper thumb palm design by Skip Meetze of the Rochester Re-Nable lab (support from build plate suggested) All files are for a RIGHT HAND device. Mirror appropriately in your slicer software for a LEFT HAND device. The live document of assembly instructions/hints/code/etc lives as a google doc at the following link: https://docs.google.com/document/d/15Qi8354YAS5EJnBqJcT2HUBNaXwBZ5ymHQfw0T9-NeE/edit?usp=sharing Large redesigns or additions will be published in the thing files as updated PDFs as they occur. The current document for assembly has been tested and worked for three iterations of assembly.