Robotic hand servo powered

thingiverse

I wanted to learn more about servo control and how it applies to robotics. To better understand this concept, I redesigned my robotic hand to incorporate five MG90 servos, each controlled by a Pololu Servo Controller (Micro Maestro 6 USB controller). The link to my YouTube video demonstrating the setup is available below. To assemble the hand, you will need to print multiple parts, including: * Five finger units, excluding the dip portion * Three servo rods (one spare) * A thumb adaptor * A baseplate * A cover for the robotic hand * A lower arm cover The finger dip comes in two versions: smooth and gripped. The gripped version is available as a single part that includes all components, while the smooth version has different sizes for each digit. UPDATE: I have uploaded the Sketchup file for further modification and customization. UPDATE 2: I have added a wrist adaptor to the design, which is compatible with the lower arm from Thingiverse (https://www.thingiverse.com/thing:2727176). This design also uses finger parts from that project, resulting in fewer components and easier assembly. Print Settings: * Printer Brand: Deltaprintr * Printer: Deltaprintr Kit * Rafts: No * Supports: No * Resolution: 0.3mm * Infill: 20% Notes: * The lower arm cover is a solid part and should be printed without infill or supports. * If you have already printed my previous robotic hand project (http://www.thingiverse.com/thing:1830958), you will only need to print a few new parts, including the finger-mcp-part, servo-base-plate, and thumb-adaptor. Post-Printing: I included exploded views in the assembly manual to illustrate the correct placement of servos and fingers. The robotic hand is mounted on a 2020 rod, and the cover is attached to this rod. The servo rods are printed straight but need to be thermoformed using a heat gun to fit properly. To do this, twist the rod 90 degrees, place it onto the servo and finger, and then use the heat gun to give it its final curve. Be careful not to over-tighten the screws that hold these rods in place, as they need to act as pivot points. All fingers have the same mockup, except for the thumb, which has an adaptor to provide an angle to the base plate. The front servos are mounted under the baseplate and are 180 degrees turned compared to the rear servos, which are mounted on top of the baseplate.