Build Instructions

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• 1

  Summary

  Assembly steps

  • Printing and removing support material
  • Fingers assembly
  • Thumb assembly
  • Inserting the motors on the palm
  • Inserting the motor on the thumb
  • Fingers and palm assembly
  • Casting silicone in the molds
  • Gluing the silicone “skin” in the fingers
  • Mounting the electronics and electrical components in the palm
  • Electric conections
  • Assembling the covers
  • Upload the firmware
  • Start exploring!

  Tools

  • Micro USB cable
  • M3 allen key
  • Little flat blade screwdriver
  • Phillips (star) screwdriver
  • M3 drill bit with driller
  • Lime
  • Super glue

  Bill of materials

  • 5 x Micro linear servos motor Actuonix PQ12R
  • 1 x Rotary servo motor Tower pro MG90S
  • 1 x Arduino/Genuino Nano
  • 2 x DFRobot OYMotion SKU:SEN0240 EMG analog sensor or Mioware EMG analog sensor
  • 1 x Pololu DV2425F6 Voltage regulator
  • 1 x Pololu Switch ON/OFF
  • 1 x Grasp PCB board (optional)
  • 1 x Tournigy Nano-tech 6000 mAh or other Li-po 7.4 V power supply
  • 1 x Li-po battery charger
  • 1 x DFRobot 0029-B Pushbutton module
  • 10 x M3 allen screws 10 mm long
  • 12 x M3 allen screw 16 mm long
  • 1 x M3 allen screw 20 mm long
  • 4 x M2 blade screw 8 mm long
  • 2 x M4 star screw
  • 1 x M10 allens screw 30 mm long
  • 1 x MG90S servo screw

  3D printed parts

  • 4 x Finger distal phalanx
  • 4 x Finger proximal phalanx
  • 4 x Joint
  • 1 x Palm
  • 1 x Thumb core
  • 1 x Thumb distal phalanx
  • 1 x Top cover
  • 1 x Bottom cover
  • 1 x Finger grip mold
  • 1 x Thumb grip mold
• 2

  Printing

  • Printing and removing support material

  Once you have the downloaded files you can use any SLS or FDM printer to print the parts in PLA, ABS or resin, a tough resin is recommended for their mechanical propierties.

  As an example the hand can be printed in a FDM printer (BQ Hepsteros 2) using the following settings:

  • Material: PLA 3D850.
  • Wall thickness: 1.2 mm.
  • Filling percentage : 20 %.
  • Filling pattern: Lines.
  • Printing temperature: 230 ºC
  • Printing speed: 60 mm/s
    
• 3

  Fingers assembly

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