InMoov hand dual track servo pulleys

thingiverse

Here's the design I created for the InMoov 3D printed robot: I designed this pulley system to work with Geël Langevin's original InMoov hand design, available on inmoov.fr. My modification includes two separate tracks - one larger and one smaller. The lines pulling each track are subject to different tensions depending on whether the finger is closing or opening. For efficient performance, you need 25 splines to create the tracks. If you want to try it out first, check the video https://www.youtube.com/watch?v=gwx3JIakDV0 showing my first test with this pulley system.