The initial CAD for this project was borrowed from the research paper "An open-source anthropomorphic robot hand system: HRI hand" by Hyeonjun Park and Donghan Kim as a jumping-off point to test how the mechanism behaved before the kinematic analysis was complete. Notably, the authors of this paper chose to actuate each digit individually, while we aim to actuate them all at the same time.
| Link | Length |
|---|---|
| L1 | 6.286 mm |
| L2 | 9.5 mm |
| L3 | 27.05 mm |
| L4 | 27.3 mm |
| Loffset | 3.693 mm |
| L5 | 19.56 mm |
| L6 | 6 mm |
Table 1: Link Lengths
Figure 1: Drawing of Linkage
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The next steps for our project will be to design a more comprehensive ground link that will incorporate five of these fingers into a hand. A special case is the thumbethumb. We plan on approximating a thumb We plan
| BOM | Qt. | Cost | Link |
|---|---|---|---|
| PLA Filament | ~ 1 lb |
| Free from TIW | |||
| Arduino | 1 | Free from parts box | |
| Extension Springs with Loop Ends | 5 | $14.05 | Link |
| Linear Actuator | 1 | $19.99 | Link |
| Electrical Connectors | 1 | Free from parts box |
Table 2: Projected Bill of Materials for Final Project