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

• 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