Robotic Hand (one piece)

thingiverse

A dexterous robotic hand powered by a compact 9g servo motor, fabricated in one seamless piece through additive manufacturing. This design is optimized for a 0.4mm nozzle and 0.2mm layer height, with extremely precise tolerances that require strict control over extrusion to ensure accurate printing. To prevent the gears from fusing to surrounding surfaces, this model necessitates support structures during the printing process. However, these supports must be minuscule and delicate, as Cura's default settings yield satisfactory results, whereas Slic3r's default supports are excessively large and unlikely to function effectively. Upon removal of the hand from the build plate, the "finger" edges should appear to be in contact but remain unfused. To achieve this, it is crucial to carefully detach the support holding the motor coupling before proceeding with any further disassembly, as failure to do so may result in breakage of the connecting shaft. Subsequent removal of supports and gentle separation of the "fingers" require moderate force, but should not be excessively challenging. To facilitate servo operation and ensure proper alignment, open and close the hand several times to wear down the support structures. If the servo struggles to move the hand, it is likely that the center axis has shifted. This robotic hand was conceived in SketchUp, with subsequent STL file adjustments made using Microsoft 3D Builder. Finally, Cura was employed for slicing, followed by printing on a Robo3D R1+ 3D printer. A video showcasing its operational capabilities can be viewed at https://youtu.be/LVSO88PG15k