Five Finger Robot Hand

1. Setup the Servo Motors:

• Use 3D printed parts and six serial servo motors.
• Refer to the three-finger hand for the humanoid robot project on Hackaday for information on setting up the servo motors.

1. Connecting the Take-Up Reel:

• Use 3 M3 by 16mm screws to connect the take-up reel to the servo horn.
• Use one M3 by 12mm screw to connect the wire that runs the finger.
• Use the set finger Arduino program to place the reel at the 9:00 position when the servo motor is at the 3700 position.
• Fasten the horn screw on the servo.

1. Preparing the Cable Wire:

• Cut two 275mm pieces of thin cable wire.
• Thread the lower wire through the end of the finger and crimp.
• Thread the upper wire through the end of the finger and crimp.
• Thread the lower wire through the middle finger and the upper wire through the middle finger.

1. Using the Setup Jig:

• Use a special 3D printed jig with 12mm and 30mm screws to hold the setup for the finger.
• Drill out a hole with a 1/8 inch bit--not designed into the setup jig.
• Install the knuckle on the setup jig.

1. Connecting the Finger:

• Use an M3 by 20mm screw to connect the end of the finger to the middle of the finger, serving as a bearing for the finger.
• Thread the upper wire through the knuckle.
• Install an M3 by 25mm screw through the knuckle as the bearing point.

1. Securing the Servo Motor:

• Secure the servo and the servo motor mount using the four tiny screws included with the servo motor.
• Install the servo motor to the rear of the test jig using 2 M3 by 20mm screws.
• Fasten the extension spring (8.7mm diameter by 46.8mm long) to the top of the servo mounting housing.
• Use an M3 by 12mm screw through the 3D printed washer to hold the spring.

1. Tightening the Cable:

• Tighten the cable so that the finger is fully in the up position and crimp the cable.
• For the lower cable, press the special crimp onto the cable, thread the cable through the lower pulley, tighten, and crimp the cable.
• Remove the setup jig.

1. Final Assembly:

• Use 2 M3 by 10mm screws on the front of the wrist and two M3 by 30mm screws on the rear of the wrist.
• Fasten the finger and the servo motors.
• Repeat this process three times.
• Fasten the thumb as shown in the photos.