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Figure 1: Initial CAD Borrowed from Research Paper and Altered
Initially, we hoped to 3D print only the fingertip and palm base of the hand (Links 1 and 6), and use laser cut wooden pieces as the
Figure 2: Prototype No. 1 - Failed due to lack of link thickness tolerancing
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This prototype had several benefits over the previous one. First, it was better toleranced and assembled more easily since we standardized all the bolt sizes to M3. Secondly, it had a greater range of motion due to the lack of a bolt going across the middle connecting Link 2 to Link 4, which was previously hitting the mechanism and stopping it. Finally, it was overall simpler to manufacture and assembly. Going forward, this is the basic design we will be using for our
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Table 2: Projected Bill of Materials for Final Project