Robot-making process [9-2] hand

[Robot Making 9-2]


After finishing the 10 fingers, you need to make two hand frames to fix them and enable them to move by motors. The "one-shot figure" below is for the aluminium plane figure of a hand.

Bending the plane, you need to form it like this.

After that, cut off a paper clip as long as the width of the robot hand.

Put it into the holes of all fingers side by side except a thumb.

And, set the finger bundle into the hand frame as shown in the picture.

The other side made in the same way

Then, bend the thumb case round to be a smooth rectangle, put a thumb in it, and fix the finger with a pin inside.

Plaster epoxy adhesives to the joint spots in order not to break away. After that, put a motor into the frame and fix it with bolts

The other hand in the same way

Now, linking the lines to the motor will begin.

First of all, tie some PVC tape around the line-bundle and make a knot at the point where the tape ends. There are two bundles of lines in each hand; one for upper move and the other for lower move.

Then, screw the wheel of the motor, and bind the bundle line to the screw. In doing this, avoid X-knot. Use some special kind of knots such as used in fishing or so.

When making a knot, remember that the two lines deliver the power in the opposite direction each. You should be very careful to find out a point where the fingers can move up and down smoothly and stably.

After the knot-making is complete, give a good screw on it again.

Finally, assemble the hands to the arms.

Now, test if the robot can move its fingers and make a fist. If successful, then there are only one last part remaining; the head.