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The mechanical parts of the hand are almost exclusively 3D printed with the Bambu Labs printers in TIW. Every linkage from every finger is printed in one go on the Bambu Labs printer. Some parts like the shell-style palm clamshell enclosure and the forearm clamshell enclosure were printed on the Raised3D FDM printers. The parts printed on Raise3D benefited from the higher-precision printing that Raise provided. Another benefit of the Raise3D printed parts is the ease of removal of the support structures on those parts.
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There were 2 failures during the fabrication of the Robotic Arm, namely, during the printing of the finger linkage and forearm clamshellenclosure. Both failures were due to uneven build plate heating on the 3D printers. We also had to drill a hole in the linear actuator mount because the power line passthrough slot was accidentally removed during CAD revision.
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