3DOF Robust robot finger
thingiverse
A test finger for a robust robot hand. In the video the servos are ES3302 Emax, as these may be hard to find the palm print is also provided with spacings suitable for the cheap and common SC90 microservo https://www.amazon.com/Micro-Servos-Helicopter-Airplane-Controls/dp/B07MLR1498?crid=3HRQYWWHXY9P4&keywords=Roll%2Bover%2Bimage%2Bto%2Bzoom%2Bin%2B4Pcs%2BSG90&qid=1654072042&sprefix=roll%2Bover%2Bimage%2Bto%2Bzoom%2Bin%2B4pcs%2Bsg90,aps,164&sr=8-3&th=1&linkCode=sl1&tag=therobotstudi-20&linkId=cbde313d7c3c735c74ff3a53b2cc72dd&language=en_US&ref_=as_li_ss_tl Bearings are essential to reduce friction but the sections are held together by ligaments and elastics allowing the structure to deform and return instead of breaking. Compared to human fingers which have 5 driven tendons (i.e. 5 DOF), this finger has three driven tendons and one passive elastic tendon to extend the finger. To reduce the last DOF the last two joints are torsionally coupled with a pair of ligaments. https://youtu.be/vUTbuZmHCM0
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