How to make a low cost robot hand!
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- Опубліковано 6 вер 2024
- Stages in the design and prototyping of a #3dprinted #robot #hand.
It goes from #cad, to print, to assembly to testing.
The V1 robot hand is freely published and needs under $300 USD of components to build, assuming you have a 3d printer, a few handtools and a place to work.
!!!!!----------- Scroll down for links to the stl files and to purchase components ---------------!!!!!
The stl files to print the hand and forearm are on github: github.com/The...
Press the green button at the top right labelled code, then at the bottom of the menu Download Zip.
Read the readme document!
The #cad for the arm and hand is available as a parasolid at:
cad.onshape.co...
The forearm and hand can operate as a stand-alone unit allowing unlimited axial rotation for rotational tasks like scrubbing.
Some notes on printing:
Designed and tested for high speed printing using a 0.6mm diameter nozzle and 0.4mm layer thickness except for the tendon spools and split parts of the palm sections which benefit from printing at 0.3mm layer thickness or better.
Tested in PLA, PETG and CF nylon. ABS is not recommended for the large pieces.
To finish 3d prints to a high standard requires a fine sandpaper or emery board.
Diamond coated steel nail files are a handy tool: amzn.to/3VBBsOX
Though my favourite diamond file is actually intended for maintaining whetstones, just a nice big expanse of diamond dust to use :-)
- Amazon UK: amzn.to/3gj1ExD
- Amazon FR: amzn.to/3EU3pM2
- Amazon US: amzn.to/3eN3bvo
Additional components required are listed below.
Please consider buying via the Amazon links where available to help fund the robot development.
The biggest cost item are the servos, order direct or from Ali:
16 slim microservos like the Emax ES3301 (approx $6.6) are needed for a total of approx 100 - 200 bucks.
The hand in the video uses Emax ES3302 but any slim micro servo that fits inside the envelope of 23.2*9.2*24.1 will do.
Emax themselves make four variants at this size with plastic or metal gears and using either digital or analog control technology.
ES3301 (approx $6.6)
ES3302 (approx $9.2)
ES3351 (approx $8.5)
ES3352 (approx $12)
Official website: emaxmodel.com
2 micro servos needed for wrist flexion and extension (required).
Feetech SCS2332 - feetechrc.com/... are recommended.
These are serial bus driven servos over allowing a greater range of controlled rotation.
They cost around 35 bucks each plus delivery obvs.
If you prefer to use a traditional servo for simplicity they can be substituted by any servo that fits inside the envelope 23.2*12.1*28.5mm.
The trade off is the reduction of the powered range of motion of the wrist to about half.
1 standard servo needed for axial wrist rotation (optional)
Feetech SCS15 - feetechrc.com/... or any servo that fits inside the envelope 40*20*40.5mm. Reduces powered range of motion to about half and the loss of a continuous rotation option.
The rest of the components are relatively inexpensive:
2mm diameter steel pins - alternatively cut lengths from a wire coat hanger or in Europe order direct from www.visseriefi...
Otherwise kits are available on Amazon:
UK: amzn.to/3SfoC5Q
FR: amzn.to/3D9QkwI
US: amzn.to/3VYrnfh
M2 screw and washer kits, or also in Europe from www.visseriefi...
UK: amzn.to/3gk2MB6
FR: amzn.to/3VPF9AK
US: amzn.to/3sf4NkE
M2 brass threaded inserts M2 * 4mm long * 3.5mm
Note that the type required has a plain section between the knurled ends to allow attachment of the tendon in the fingertip.
UK: amzn.to/3D9mTeb
FR: amzn.to/3giNcFY
US: amzn.to/3yYl1lY
Kite or fishing line for tendons and ligaments - Sufix 832 is the best I know of for longevity, the 80lbs breaking strength is stiff enough to thread easily and most readily available in the US.
UK: amzn.to/3VCbs5T
FR: amzn.to/3TsDsHa
US: amzn.to/3DgjNoF
Ball Bearings 6*10*3 - Need 50 for a hand, packs of 10 available which are enough for the sample finger.
UK: amzn.to/3CMa7Ry
FR: amzn.to/3Tw9x0P
US: amzn.to/3Dj7cBn
Ball Bearings 2*6*3 or 2*6*2.5 - Need 6
UK: amzn.to/3gggdBU
FR: amzn.to/3TDgTQj
US: amzn.to/3yYlTHg
Ball Bearings 15*21*4 - Need 4
UK: amzn.to/3skHiXj
FR: amzn.to/3Dh9sJf
US: amzn.to/3TsMSTO
Get involved at patreon.com/therobotstudio
This is both absolutely amazing and very humbling, we can emulate the actions of the body very well, but we are limited by how we can interact with it, There are just some things that remain in mysticism I wish we could pluck from the aether.
Thank you! This is about half the numbers of powered DOF in the human hand with the aim of achieving a useful level of dexterity. The amazing advances in LLM’s like ChatGPT give a very strong insight now into how we will be able to converse with machines and explain precisely what we want them to do. The next frontier I feel will be seeing what it’s really like to live with an intelligent machine and how much autonomy we should grant them - whilst that’s still under our control!
How did you learn the engineering and science required to fabricate these incredible inventions? Did you just teach yourself everything?
Whilst perseverance and continual learning are important I was also lucky enough to have some great teachers over the years as well as two Bachelors and a Masters in engineering!
Okay but how do you make a high cost hand
Lol
You go to Mrbeast and ask for a hand that is overpriced
You use more expensive materials, the "high quality" stuff
😂😂😂
This is so inspiring, holy crap. I have no prior knowledge of this, where could I start to make my journey to making things like this? What coding language should I learn, and do you have any recommended electrical/mechanical engineering books or courses for something like this?
Thank you!
In practice there's too much to learn before starting - the field is vast and constantly expanding so if you try to learn before you start you'll likely never get started.
The way round this is to buy any kit you like the look of, follow the instructions to get to a working robot and then experiment in the direction that interests you most making sure that you only change one thing at a time so it stops working you know how to get back to a working machine.
Robotics ultimately comes down to wiring and debugging across multiple domains and it's not uncommon to spend days debugging code only to find out that the reason it stopped working was actually because something came unplugged.
Wow this amazing!
Thank you!
in v1 how many servos required for the wrist and hand only (hope u help me with the numbers and the sizes required )
The V1 uses 16 Emax slim microservos - the ES33xx range for the fingers and thumb. The wrist uses 2 microservos and 1 standard servo. I prefer to use serial servos for these motors, like the STS3020 and STS3046 by Feetech.
What kind of 3-d is needed to make the parts for the robotic hand
The design will print on any extrusion printer. It’s been tested in PETG and PLA but ABS is not recommended for the larger pieces due to the shrinkage. My preferred material now is carbon-reinforced nylon which requires an all metal hot end with hardened steel nozzle to print at 310C. For faster printing I use a 0.6mm nozzle and 0.4mm layer thickness. Most importantly the filament must be very thoroughly dried, I leave it for at least one week in a 65C filament drier. To test, print a pair of columns 80mm talk with an 8mm square cross section. If the filament is properly dried there should be no stringing or oozing at all and it should not be possible to break the columns by hand!
How did you control these analog servos? By a arduino or what
Yes, there’s a small form factor Arduino Mega in the forearm. The Mega is very useful as it has 4 serial ports built in.
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This is a high tech hand. THANK YOU
Thank you
If u make a shorts version of this it will most likely go viral👌
I am trying…
It should be named Palmela Handerson ✋😃
Yeah, Wolowitz is keen too 😂
3D printer doesn´t seem "low cost" to me .
It’s a fair point, for many 3d printers are indeed an expensive item. This video shows how to make a surprisingly strong finger with only hand tools and a modelling plastic called Polymorph or Friendly Plastic: ua-cam.com/video/bVDneXZ_YfQ/v-deo.htmlsi=ktDej_2oyAOqdo-N
Haha. Around 2000, my engineering department considered buying a commercially available hand driven with compressed air servos. Otherwise it was much like this. The bill was $12k. In today's dollars that's about $23k. Yeah. Even with the printer it's inexpensive in the right context.
Grat
Great?
oooooooshhhhhh
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69 likes ☠️
Thanks
@@therobotstudio Ur welcome 👍
just discovered your channel... amazing work... bro you need to use theses robots to build other robots like optimus tesla is doing
Yes, as soon as this new prototype is assembled I plan to do a lot of videos - including a parody of the Tesla investor day video 😁
@@therobotstudio 😂😂😂
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