InMoov Remix to Allow Full 180 Degree Wrist Rotation

thingiverse

Human: I added a 180+ degree rotational wrist mod to HairyGael's InMoov Rotation Wrist. Please note that I use a different forearm assembly so haven't printed this exact model yet but edited cableholder and rotawrist2 models to fit my changes. http://www.thingiverse.com/thing:514995 Instructions I'll add more detailed instructions later... Print out: (1) l_rotawrist2 (1) l_wristsensorbracketv2 (1) wristgears3a_sensorV2 (1) wristgears3a_sensorkeyV2 Buy at least two TRIMMER 5K OHM 0.5W PC PINs: http://www.digikey.com/product-search/en?KeyWords=3339P-502LF-ND&WT.z_header=search_go For sensorkeyV2, I have three options: Option1: (verified) print out wristgears3a_sensorkeyv2 using an SLA printer. You can check www.makexyz.com for local makers to print this part. Option2: (verified but tricky) print out wristgears3a_sensorkey_blank and carve the cross pattern with a sharp mini exacto blade. Option3: (unverified) make a small amount of thick acetone slurry, print out sensor_blank, stuff acetone slurry into philips slot of trimmer pot, center sensor_blank, and press onto slot. Let it cure for 24 hours then carefully remove and clean it. Drill the sensorbracket with a 5/16 bit to allow trimmer pot to slide freely during calibration. The cross feature of sensorkey must fit snugly but not forcefully in trimmer pot, and the sensorkey should fit with a bit of play, about 0.1ish mm per side. Attach an external pot to servo just like I did for the InMoov bicep, shoulder etc., assemble rotawrist2 by placing wristgears3b in rotawrist, place sensorgear in rotawrist, screw wristsensorbracket and program arduino to activate servo to 90 degrees. Adjust trimmer pot until centered at which point servo stops moving, adjust wristgears3b for the angle you want when input is 90 degrees. Place pot in sensorbracket carefully until it engages with sensorkey, then rotate pot back and forth to get zero movement at 9 degrees, and finally tighten pot set screw. Set minpulse and max pulse for wrist to turn only 180 degrees, so you can send commands straight from 0 to 180 degrees. My values were 1200 and 1765. Assemble rest of forearm. *Adjusting tendons is easy* When assembling hand to wrist, string up tendons in the palm up position, as instructions assume 0 degrees for palm up and 180 degrees for palm down.