Yale OpenHand Project Model T
A 3D-printed robotic hand with underactuated fingers and compliant flexure joints. The model T is an open-source, low-cost, robotic hand that can be created through rapid-prototyping techniques and off-the-shelf components. The hand has four fingers with compliant flexure joints and is driven by a single actuator through a pulley tree differential. During grasp acquisition, each finger will continue to move until the links make contact with the object, reducing the need for sensors or feedback control.
Yale University
Specifications
| Fingers | 4 | |
| Base height | 75-90 | mm |
| Base Width | 100 | mm |
| Weight | 400 | g |
| Grip Force | 10 | N |
| Actuators | 1 | |
| Material | ABS | |
| Fabrication Technique | Shape Deposition Manufacturing (SDM) | |
| Costs | 500 | $ |
Overview
The model T is an open-source, low-cost, robotic hand that can be created through rapid-prototyping techniques and off-the-shelf components.
The hand has four fingers with compliant flexure joints and is driven by a single actuator through a pulley tree differential. During grasp acquisition, each finger will continue to move until the links make contact with the object, reducing the need for sensors or feedback control.
To make sure the hand is compatible with 3D printing technologies, the finger designs are converted to structures that have a minimal number of small features and parts.
References
Overview of the characteristics of underactuated, compliant hands used in this design. Details of the design considerations to meet the requirements of open-source and 3D printing. Describes the build process for a prototype of the hand; in particular, the SDM process used to create in-molded elasto
Provides a brief overview of the biomechanics of the human hand, followed by an in-depth review of kinematic models presented in the literature. Kinematic models for different joints are discussed, along with the explicit and implicit assumptions commonly used in applying the models. General applica
Includes the parts-list, 3D-printer settings and step-by-step assembly instructions.
Provides a brief intro to the project.
Contains the repository for various models within the Open Hand Project. Different models share common components and software. Repository contains CAD models and software.
Continue Reading
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The article introduces the automated deposition methods for automated production focusing on the step-by-step process - Design of Tooling, Programming and Simulation of Automated Placement Processes, and Program Generation.
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