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Final Design
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Fabrication and Assembly
After our initial design was finalized in CAD and verified to work with a minimum viable product, we moved on to implementing the motor. We redesigned our spool to allow for two fingers to connect simultaneously, controlled by the same motor. We also designed our system to work for an alternative motor setup controlled by two co-linear motors.
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After critical connections were established we designed and fabricated the housing to improve the stability and aesthetics of our designs. We took extra care to manage the wiring to improve the cleanliness and consistency of the electronic portion of our project. The design of the handle allows for easy access to intuitively control the fingers without any complication. Finally all components were assembled and connected with M3 bolts. The tendons were tensioned to correctly “calibrate” them to the neutral position of the servo.
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Electronics and Circuitry
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Potentiometer Variable Control Code
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Parameters & Physical Modeling
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