Soft Robot Wrist

thingiverse

UPDATE 10/14/18, Wrist version 4 file added here, Thumb version 4 file added to the fingers project page. This new wrist version is a major test of incorporating tendon pathways for the fingers and tendon attachments for wrist movement. Missing are the ball and socket joints for arm connection which have been moved to my arm project, which I just put up here! UPDATE 10/13/18: New finger design assembled. Inconsistent results were obtained. Tendon pathways successfully produced desired motion, but tendon attachment was not successful. Redesigning that now... UPDATE 10/07/18. Good progress was made this weekend, but not enough to upload a new file. Next weekend I will be uploading new files. Thank you for your likes and downloads. I hope I have inspired a few folks to progress our common goals. Update 9/29/18: Tendon pathways are now incorporated into fingers and will be tested within a few days. But of course, the fingers are on a separate project page...go look at that one too! Tarpal lengths to knuckles have been updated so the ring finger is no longer than the middle finger... Fingers are in their own file. You will need an M1.6 & M2 (Most holes) M3 (thumb knob) and an M5 (connection of hand to mid-wrist) tap and drill set to assemble. You will also need either a few short lengths of 4mm bar stock, or 2mm bar stock and a little 4mm OD, 2mm ID silicone hose (to attach carpals to fore-wrist). 2mm bar is needed in the knuckles to limit range of motion. This current version does not support muscle attachment points and was created solely to experiment with range of motion and test out model strengths for determining muscle layout. This model is a replica of my own hand and will be later cast inside various layers of silicone in order to simulate a real human hand. Index and pinky finger need further flexibility to aid in grasping round objects, print the little rectangles in flexible filament! If you wonder why this isn't printed as one piece, it's because multi materials lend their strengths to their function. This design will incorporate stainless steel, aluminium, silicone, copper, and many other materials. Each of the materials selected was due to their unique properties... Besides, my artificial brain needs a good body. This thing was made with Tinkercad. Edit online at https://www.tinkercad.com/things/4tLY0z7Su2u