Soft Robot Fingers

thingiverse

UPDATE 10/14/18, Thumb version 4 file added. This is a major overhaul of the way tendons are attached to bones. As soon as I am confident that this is no longer in beta testing, I will start consolidating the fingers and wrist project. UPDATE 10/6/18 Version 3 pointer finger file added. Printing it now. Hole placement will be refined in Version 4 to optimize leverage and motion path. Get ready for an entire robot arm! (guaranteed delivery by 12/01/18) UPDATE 10/1/18 Fingers work incredibly well, except for one major issue with a contracted finger allowing for too much play in the form of angular exchange between the bone at the tip and the second from the tip. I will be refining the design to include a pulley system to restrict the motion of the tip to being proportional to the second. Picture updated, files not yet uploaded. UPDATE 9/29/18 Fingers now have tendon pathways to incorporate .5mm fishing line and some 0.6mm ID x 1mm OD PTFE tubing. Screws for holding bones together (not joints) and locking the fishing line are now M1.6. You will need an M1.6 and M2 tap and drill bits to complete this assembly. This model is designed to be used with my adjacent project files. I am keeping them separate due to slow internet speeds and Tinkercad's dislike of complex shapes and object grouping layers. Nearly all parts are intended to be printed as top and bottom halves from their orientation in this file. This will be a key component of muscle attachment points later on. This design was created using Tinkercad. Edit it online at https://www.tinkercad.com/things/0N09UWY0Re1