Low-cost printed four-finger hand, 8 actuators
A printable humanoid hand: four fingers, two small servos per finger in parallel, flexible shells, about 400 g.
Multi-finger handVisual onlyNot an entrantCC-BY-4.0, Apache-2.0
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Facts
- Kind
- Multi-finger hand
- Class
- Open hardware (buildable)
- Capabilities
- pinchholds a part between two opposed tips or pads
- powerwraps several fingers around a part
- Mount
- A humanoid wrist; an interface plate for a hobby arm is included.ISO pattern: none (own interface)
- Designed for a humanoid's wrist; easily adapted (stated upstream).
Specifications
Simulation
- Status
- Visual onlyVisual only (no physics)
- Fidelity
- n/a (no physics)
- Reason
- The upstream demo model includes servo and fastener meshes of unrecorded provenance; making it an entrant needs a per-mesh review first.
- Tournament
- Not an entrantThe upstream demo model includes servo and fastener meshes of unrecorded provenance; making it an entrant needs a per-mesh review first.
Licence
- CC-BY-4.0Covers the mechanical design (stated in the README). Licence text
- Apache-2.0Covers code (LICENSE). Licence text
Licence rating: green. Full attribution: see the credits page.
Files
| File | Type | Size | Licence | Changed |
|---|---|---|---|---|
| distal.stepassets/effectors/library/hand-4f-8dof-printed/cad/distal.step | CAD | 49.8 kB | CC-BY-4.0 | as upstream |
| finger_frame_1.stepassets/effectors/library/hand-4f-8dof-printed/cad/finger_frame_1.step | CAD | 29.7 kB | CC-BY-4.0 | as upstream |
| finger_frame_2.stepassets/effectors/library/hand-4f-8dof-printed/cad/finger_frame_2.step | CAD | 19.8 kB | CC-BY-4.0 | as upstream |
| gimbal.stepassets/effectors/library/hand-4f-8dof-printed/cad/gimbal.step | CAD | 45.9 kB | CC-BY-4.0 | as upstream |
| hand_plate_right.stepassets/effectors/library/hand-4f-8dof-printed/cad/hand_plate_right.step | CAD | 393.2 kB | CC-BY-4.0 | as upstream |
| hobby_arm_interface.stepassets/effectors/library/hand-4f-8dof-printed/cad/hobby_arm_interface.step | CAD | 71.7 kB | CC-BY-4.0 | as upstream |
| link.stepassets/effectors/library/hand-4f-8dof-printed/cad/link.step | CAD | 20.7 kB | CC-BY-4.0 | as upstream |
| proximal.stepassets/effectors/library/hand-4f-8dof-printed/cad/proximal.step | CAD | 80.9 kB | CC-BY-4.0 | as upstream |
| wrist_interface_right.stepassets/effectors/library/hand-4f-8dof-printed/cad/wrist_interface_right.step | CAD | 223.8 kB | CC-BY-4.0 | as upstream |
Each file links to its copy in the repository. Licence texts sit next to them in LICENSES/. What changed is on the credits page.
Upstream
Linked, not mirrored
| What, and why | Size | Link |
|---|---|---|
| Full hand CAD (3.5 MB): linked, not mirrored. | 3.5 MB | Pinned file |