NYU Finger Assembly
NYU Finger retracted
NYU Finger with pen
- 3dof - 3 degree of freedom robot
- consisting of the same actuator modules as the 3dof leg
- external wire for power supply and ethernet communication
Electronics stack - consisting of two micro driver boards and a master board
Master board with adapter plate
- Custom electronics board -> Master Board Documentation
Micro Driver Cards
- Custom electronics board -> Micro Driver Board Documentation
The recommended printing direction for all the parts below is the positive z direction of the stl files.
- All the STL files for 3d printing the NYU Finger can be found here: STL Files NYU Finger.
| Part Name | Quantity | Ordering Information | Comments |
|---|---|---|---|
| Upper Leg Module Shell Base | 1 | STL file | 3d printed part |
| Upper Leg Module Shell Cover | 1 | STL file | 3d printed part |
| Finger Adapter | 1 | STL file | 3d printed part |
| Hip AA Module Shell Base | 1 | STL file | 3d printed part |
| Hip AA Module Shell Cover | 1 | STL file | 3d printed part |
| Hip FE Module Shell Base | 1 | STL file | 3d printed part |
| Hip FE Module Shell Cover | 1 | STL file | 3d printed part |
| Master Board Support | 1 | STL file | 3d printed part |
| Pen Holder | 1 | STL file | 3d printed part |
| Spacer Micro Driver Stack | 8 | STL file | 3d printed part |
| Structure Bottom Plate | 1 | STL file | 3d printed part |
| Structure Front Plate | 1 | STL file | 3d printed part |
| Structure Side Plate Left | 1 | STL file | 3d printed part |
| Structure Side Plate Right | 1 | STL file | 3d printed part |
| Master Board v2 | 1 | Master Board Documentation | Custom Electronics |
| Micro Driver Board v2 | 2 | Micro Driver Documentation | Custom electronics |
| Fasteners Structure Front Plate | 6 | M2,5x12 Socket Head Cap Screw | Stainless steel |
| Fasteners Structure Bottom Plate | 6 | M2,5x6 Socket Head Cap Screw | Stainless steel |
| Fasteners Hip AA Modules | 4 | M2,5x16 Socket Head Cap Screw | Stainless steel |
| Fasteners Hip FE Module | 2 | M3x12 Socket Head Cap Screw | Stainless steel |
| Fasteners Finger Adapter | 2 | M3x22 Socket Head Cap Screw | Stainless steel |
| Washers Finger Adapter | 2 | M3 Washer | Stainless steel |
| Fastener Pen Holder | 1 | M3x6 Set Screw | Stainless steel |
| Fasteners Master Board | 4 | M2x6 Socket Head Cap Screw | Stainless steel |
| Fasteners Electronics Stack | 4 | M2,5x25 Socket Head Cap Screw | Stainless steel |
| Fasteners T-Slotted Aluminium Profile | 6 | M5x16 Socket Head Cap Screw | Stainless steel |
| Nuts for T-Slotted Aluminium Profile | 6 | M5 T-Slot Nuts | Stainless steel |
| Wire Name | Quantity | Length | Comments |
|---|---|---|---|
| SPI Wires | 2 | 8cm | 5 poles |
| Power Wires Micro Driver Boards | 2 | 10cm | 2 poles XT30 Connector |
| Motor Phase Wires Micro Driver Board | 12 | 5cm | |
| Master Board Power Wires | 1 | 10cm | 2 poles |
| Hip AA Motor Phase Wires | 3 | 26cm | |
| Hip AA Encoder Wires | 1 | 30cm | 5poles |
| Hip FE Motor Phase Wires | 3 | 50cm | |
| Hip FE Encoder Wires | 1 | 54cm | 5poles |
| Knee Motor Phase Wires | 3 | 27cm | |
| Knee Encoder Wires | 1 | 30cm | 5 poles |
| Joint ID | Joint Name | Motor Driver Card | Motor Port | Motor Index |
|---|---|---|---|---|
| 0 | HipAA | 0 | 0 | 0 |
| 1 | HipFE | 1 | 1 | 3 |
| 2 | Knee | 1 | 0 | 2 |
| 3 | Spare | 0 | 1 | 1 |
NYU Finger
Click on the picture to view the NYU finger cad model in your browser
Felix Grimminger
BSD 3-Clause License
Copyright (c) 2019-2020, Max Planck Gesellschaft and New York University
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