Robotic hand servo powered

thingiverse

I wanted to know more about servo and servo control. So i redesigned my hand, to fit servos. I used the mg90 servo and a pololu servo controller (micro maestro 6 servo usb controller) to control these 5 servos. https://www.youtube.com/watch?v=CrL5BxtCJHs&feature=youtu.be Print all the finger parts 5x (except finger dip parts) Servo rods 3x (gives you one spare) Thumb adaptor 1x Baseplate 1x Cover 1x Lower arm cover 1x The finger dip: There are 2 versions. Smooth and with grip. Choose the version you like. The gripped ones are the finger-dip-parts-all-parts. The smooth one are diverend size. Dig 1 and 5 are same size. Dig 2 and 4 also. And dig 3 is the largest of them all. ----------UPDATE------- The Sketchup file is uploaded now. ------------UPDATE 2-------- Added the wrist adaptor, this one is compatible with the lower arm from https://www.thingiverse.com/thing:2727176 The finger parts from that design are compatible with this one. Less parts and easier to assemble. Print Settings Printer Brand: Deltaprintr Printer: Deltaprintr Kit Rafts: No Supports: No Resolution: 0.3 Infill: 20% Notes: The lower arm cover is a solid. So print this with no infill, top and bottom. Use the amount of perimeters you prefer. If you have already printed my other hand project http://www.thingiverse.com/thing:1830958. You only have to print a few new parts . The finger-mcp-part is different. The servo-base-plate and the thumb-adaptor. Post-Printing I included some exploded views to explain assembly of the digits and servo placement. I used a 2020 rod to mount the hand on. And the cover is mounted to the 2020. The servo rods are printed straight, and have to be thermoformed using a heat gun. This is the easiest way to make them fit. First twist them 90 dgr (lenght), place them onto the servo and finger. Some times this gives some stress on the servo or finger mounting. Just heat the rod, just a little. Then give it the final curve. Don't over tighten the screws to fasten these rods. The need to be loose so they can act as an pivot point. All the fingers have the same mockup. Except the thumb has an adaptor to give it a angle to the base plate. Front servos are mounted under the baseplate. And are 180 dgr turned compared to rear servos. The rear servos are mounted on top of the baseplate