The initial CAD for this project was borrowed from the research paper "An open-source anthropomorphic robot hand system: HRI hand" by Hyeonjun Park and Donghan Kim as a jumping-off point to test how the mechanism behaved before the kinematic analysis was complete. Notably, the authors of this paper chose to actuate each digit individually, while we aim to actuate them all at the same time.
| Link | Length |
|---|---|
| L1 | 6.286 mm |
| L2 | 9.5 mm |
| L3 | 27.05 mm |
| L4 | 27.3 mm |
| Loffset | 3.693 mm |
| L5 | 19.56 mm |
| L6 | 6 mm |
Table 1: Link Lengths
...