1 Apr 2019

This prototype hand mainly consists of individual component testing of different aspects of a hand. The sections are split into three unique models that differ in their roles.

• Green section
  Focuses on the testing of having a single motor per finger for index and middle fingers. Motors have been re-orientated to reduce the form factor taken up from the previous two finger design.  
• Orange section
  Focuses on distributing a single motor actuation across two finger for ring and pinky. This section is designed differently to have a slightly more closer design to a human hand with smaller ring and pinky fingers, along with a slight angle to the palm. Actuation system also tests a different pulley design to split load between ring and pinky for better conforming grip between fingers.
• Blue section
  Focuses on single motor actuation of the ratcheting thumb to check for issues in routing of the cord as well as positioning of the motor.

The three section have common design attributes with motor choice and operation. They all test a new rubber end stop design which hopefully reduces the sudden stop that result from the motor reaching the end of rotation. 

[Additional info to be added]