project specification

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.

Specifications

Fingers4
Base height 75-90 mm
Base Width 100 mm
Weight 400 g
Grip Force 10 N
Actuators1
MaterialABS
Fabrication Technique Shape Deposition Manufacturing (SDM)
Costs500 $

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

R. Ma, L. Odhner, A. Dollar - 2013 IEEE International Conference on Robotics and Automation (ICRA), May 2013.

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

I. Bullock, J. Borràs, A. Dollar - The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics.

Includes the parts-list, 3D-printer settings and step-by-step assembly instructions.

Provides a brief intro to the project.

http://www.eng.yale.edu/grablab/openhand/model_t.html

Contains the repository for various models within the Open Hand Project. Different models share common components and software. Repository contains CAD models and software.

www.github.com/grablab

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