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Part | Purpose | Quantity | Price (total) | Source |
|---|---|---|---|---|
TPU Filament | Flexible mechanism links | 1 | $0 | TIW |
PLA Filament | Rigid mechanism links & mounting | 1 | $0 | TIW |
Nylon Strap | Transmit force through the flexible links | 1 | $0 | TIW |
M3 Bolts & Nuts | Secure flexible parts to rigid parts | 2 | $0 | TIW |
NEMA17 double shaft stepper motor | Dual 2-phase bipolar stepper motor to precisely control cloth position & finger rotation (motor option 1, may not provide sufficient torque) | 1 | $30.92 | Amazon |
TMC2209 stepper motor driver boards | Convert microcontroller logic into stepper motor signals | 5 | $22.88 | Amazon |
A4988/TMC2209 breakout board | Allows for simple connection of stepper motor drivers to microcontrollers | 2 | $7.99 | Amazon |
12V 30KG Servo motor | High torque DC motor with magnetic encoders to precisely control cloth position (motor option 2, high torque but will not control finger rotation) | 1 | $29.99 | Amazon |
Servo driver board | Convert microcontroller logic into stepper motor signals | 1 | $16.99 | Amazon |
12V 5A Power Supply | Small power supply for providing ample stable power to motors | 1 | $12.99 | Amazon |
ESP32 boards | Powerful microcontroller with WIFI & Bluetooth for receiving wireless commands to control motors | 3 | $16.99 | Amazon |
Sources
[31] L. L. Howell, Compliant Mechanisms. New York, NY, USA: Wiley, 2001.
[42] L. L. Howell and A. Midha, “A method for the design of compliant mechanisms,” Journal of Mechanical Design, vol. 116, no. 1, pp. 280–290, 1994.
[53] S. Timoshenko and J. M. Gere, Mechanics of Materials. New York, NY, USA: McGraw-Hill, 1972.
[64] Y. Zhang, W. Zhang, J. Yang, and W. Pu, “Bioinspired soft robotic fingers with sequential motion based on tendon-driven mechanisms,” Soft Robotics, 2022.