Robot hand with quick lace ligaments

thingiverse

Second iteration of five fingered robot hand with ligaments to reduce redundancy in the joint structure i.e. make the movements at the 3 joints of the finger (3DOF) into a single action (1DOF). This is achieved by adding an inverting torsional coupling between every other finger section. A nylon line is woven through the sections of the finger (1st - tip, 2nd - middle, 3rd - knuckle and 4th palm) such that the top of the tip and the bottom of the knuckle finger section (1st to 3rd) are linked and vice versa, and then again for the middle and the palm finger sections (2nd to 4th). This causes the fingers to generate a directed force at their tips and allows a single motor to actuate one or several fingers along trajectories that are fixed within the bounds of any additional elastic deformation in the ligaments themselves.