![]() I users the Raspberry Pi 3 and the Servo Hat that I researched in a previous post. I will make the fingers more narrow and rounded – I think that angling the knuckles so that the fingers weren’t just paralled was a good idea, but they clashed slightly when fully clenched shut.I need to find a better way to position the servos to allow more room.I’d like to try using bearings to reduce the friction in the rotating parts.I’m not sure how much I can do about this – the principle of moments is against me here. There’s a lot of friction in these linkages too.Īlso, the servos are quite strong, but the fingers don’t have very much gripping power. I connected the servo wipers to the fingers by linkages, which were bolted on. Getting everything on board the palm was pretty tight, as mentioned before. You can see it working so far in the embedded Vine below: There’s two different aspects to address – how all the mechanical parts connected together, and how the electronics and programming worked. I’ve included a couple of photos below from either side of the printed object which I hope will clear up how the parts connect together. I know It’s a little bit difficult to work out how the part above allows the knuckles to fit, and connects the servos to these fingers. There is plenty of room towards the bottom of the palm to add another servo and mounting point for the thumb – but I’ve not designed this part yet.The two towers in the middle are to hold the four servos – I intend to secure the servos using a small plastic bar and three threaded bolts. ![]() The four knuckles are at the back of the diagram.My current design for the palm is shown below: I positioned the wipers on opposite sides. I decided that the best way to do this was to put the servos on their sides, in stacks of two. There must be enough free space for this wiper blade to move freely. Whereas the main shaft of the solenoid retracted into its body, the servos control movement using a wiper blade, which sits outside the servo. These are significantly smaller and lighter than the solenoids, but they present their own challenge. This time, I’ve been trying to squeeze in four 9g Tower Pro servos. In my first attempt at powering the robotic hand, I had tried to fit in 4 bulky solenoids. I’ve been researching how to control 4 servos using a single device, such as a Raspberry Pi.I’ve been re-developing the base of the palm to hold servos, and.Last time in this series, I verified that a servo would be a better way to control finger movement than using a solenoid.
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