Finger module assembled. Weight: 930g
The finger can be completely retracted into the base structure for transport.
Finger Edu - Joint Labels
Each finger consists of 3 different actuator modules
For the finger we are using the same actuator modules that are used for the 12dof quadruped legs.
There is more detailed information here: Leg 3dof
- Hip AA actuator module - 148g
- Hip FE actuator module - 160g
- Upper Leg actuator module - 155g
Assembled base frame - weight: 226g
The STL files for 3d printing the finger base frame can be found here: STL files
Finger link with finger tip - weight: 22g
The finger link was printed on a FDM printer with the setting: "sparse double dense".
The STL file for 3d printing the finger link can be found here: STL files
Rubber finger tip - weight 2g
- we ordered the rubber finger tip from Amazon
- it's a standard office product for handling paper
- look for "Rubber Thimblette" - size 2 - large
Texas Instruments dual motor driver stack
Since space and weight isn't a concern here we are using the Texas Instruments evaluation motor driver electronics.
Each finger module requires 24V power supply and 2 CAN communication channels.
Finger Edu - Motor Driver Card Assignment
The recommended printing direction for all the parts below is the positive z direction of the stl files.
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All the STL files for 3d printing the frame and the finger tip can be found here: STL Files Frame Structure
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All the STL files for 3d printing the actuator shells can be found here: STL Files Actuator Module Shells
- Finger Adapter - STL file
- weight: 10g
- Finger Tip - STL file
- weight: 20g
- Structure Bottom Plate - STL file
- weight: 16g
- Structure Front Plate - STL file
- weight: 23g
- Structure Side Plate Left- STL file
- weight: 100g
- Structure Side Plate Right- STL file
- weight: 71g
- TI Stack Spacer- STL file
- weight: 2g
- TI Stack Support- STL file
- weight: 3g
Felix Grimminger
BSD 3-Clause License
Copyright (c) 2019-2021, Max Planck Gesellschaft and New York University
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