Constructing a Robotic Hand

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Constructing a Robotic Hand

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In the Instructable, I will be supplying a detailed way of guidance to assist you in constructing your first Robotic Hand! This Instructable will include the supplied needed, how to efficiently arrange your project, the building process, and the coding process.

Supplies

The Supplies you will be needing will include:

Fishing Line
Arduino UNO
Styrofoam
Servo Motors
Utility Knife/Exacto Knife
Paper Clips
Hot Glue Gun
Elastics Bands
Skewer
Sanding Blocks
Pliers

Organizing Your Work

Amongst your group, you must assign jobs for each person to keep this task running smoothly. To even out the work, you can give jobs like the builder and the coder. Another way we organized our work was communication. Sometimes, it began to be hard as most of my group members were in separate group members. The way we bypassed this issue was sending detailed emails between each other regarding what one did, their issues, what they could have done better, etc.

The Fingers

Using your Styrofoam cut out five rectangular prisms which will be the starting base for creating your fingers.
Base your measurements of your fingers on your own hand
Once you measured, take your rectangular prisms and cut them to your fingers measurements.
Now that you have obtained and measured, cut your fingers into three sections except the thumb.(The thumb has two)
Base these sections off of the joints on your real fingers
With these sections, make sure you keep them together with its specific finger.
Afterwards, on your sectioned off fingers, sand each corner of the segments on a 45 degree angle.

The Fingers

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Using the joints for all your fingers, line them up from the top to bottom
Once they are lined up, stick a small hole into each section in the middle using a skewer
With these holes, you will use your fishing line to connect the sections together
Leave the sections aside and begin to use your Styrofoam again
With the Styrofoam, sketch and cut out your palm only
This palm will be the base for your fingers

Putting the Hand Together

With your finished palm, make a hole into the palm where each finger will go
With the holes, put your fingers into the hole with your fishing line attached
The fingers won't be stably attached so using your staples, bend 15 into an arch
With your arched staples, use 3 for each finger and push them into the Styrofoam down along the finger to the wrist to stabilize the string down.
Once your fingers are stable and attached, you must glue the together the joints
To start, cut your elastic bands into a few small pieces enough for each finger
You will need about 2 small pieces to connect each indent
With the elastics, glue them on connecting the sections together with a small gap between them

Mathematics Code

To make this code, you needed to know the basic arithmetic operations including addition, subtraction, and division, and multiplication. You can see in the code, we of course used "+" for addition, "-" for subtraction. Except, we used different symbols for division and multiplication those being "/" and "*". Sometimes in different coding programs, they use different symbols for different equations. These symbols ran our code and helped us determine many things. It helped us figure out wasted materials and the volume of various things. You can see in the code supplied below. Once the code is ran, the word "print" at the end of the code gives us the answer.

Here is our finished mathematics code displaying the different Arithmetic operations used and what the code does for us:

import math

Lrp = float(input("enter Length of Rectangular Prism: "))

Hrp = float(input("enter Height of Rectangular Prism: "))

Wrp = float(input("enter the Width of Rectangular Prism: "))

R = float(input("enter the Radius of the Truncated cylinder: "))

S1H1 = float(input("enter the first height of the first truncated cylinder: "))

S1H2 = float(input("enter the second height of the first truncated cylinder: "))

S2H1 = float(input("enter the first height of the second truncated cylinder: "))

S2H2 = float(input("enter the second height of the second truncated cylinder: "))

S3H1 = float(input("enter the first height of the third truncated cylinder: "))

S3H2 = float(input("enter the second height of the third truncated cylinder: "))

Rh = float(input("enter the radius of the hemisphere: "))

Vrp = Lrp * Hrp * Wrp

Vh = (math.pi * (4/3) * Rh**3)/2

Vs1 = R**2 * math.pi * (S1H1 + S1H2)/2

Vs2 = R**2 * math.pi * (S2H1 + S2H2)/2

Vs3 = R**2 * math.pi * (S3H1 + S3H2)/2

TV = Vs1 + Vs2 + Vs3 + Vh

Vwm = Vrp - TV

VC = math.pi * R**2 * Hrp

HS = (math.pi * (4/3) * Rh**3) /2

CwH = VC + HS

print("volume of Rectangular Prism is %.2f"%Vrp)

print("volume of Hemisphere is %.2f"%Vh)

print("volume of section 1 truncated cylinder is %.2f"%Vs1)

print("volume of section 2 truncated cylinder is %.2f"%Vs2)

print("volume of section 3 truncated cylinder is %.2f"%Vs3)

print("Total volume of truncated cylinders and hemisphere is %.2f"%TV)

print("volume of wasted material is %.2f"%Vwm)

print("volume of cylinder is %.2f"%VC)

print("volume of cylinder with hemisphere is%.2f"%CwH)

Technology Code

To make our technology code, we were supplied a base to start our code by our teacher, and we were left out on our own from there. From the starting code, we made sure to declare each finger in Tinker CAD before we began. We then added our movements that our hand had to perform using degrees to make sure our fingers do the right hand signs. What I mean by degrees is quite simple. These degrees are commands given to our servos allowing the fingers to move. We were taught that 0 degrees means that your fingers are upwards and we also used 180 degrees. 180 degrees meant that your fingers were down. It is also a must to add a delay. This delay limits the fingers from moving carelessly without any pauses. We applied all these different codes into one code to keep it organized, but eventually, these codes will have to be separate.

Here is an example of the technology code displaying our delays, declarations, degrees, etc. for the peace sign:

#include <Servo.h> //include the servo library

Servo thumb; //create a servo for the thumb

Servo index; //create a servo for the index

Servo middle; //create a servo for the Middle

Servo ring; //create a servo for the Ring

Servo pinky; //create a servo for the Pinky

void setup()

{

thumb.attach(3); //plugged into pin 3

index.attach(5); //plugged into pin 5

middle.attach(9); //plugged into pin 9

ring.attach(10); //plugged into pin 10

pinky.attach(11); //plugged into pin 11

}

void loop()

{

}

void Peace()

{

thumb.write(180); //turn servo to 0º

index.write(0);//turn servo to 0º

middle.write(0); //turn servo to 180º

ring.write(180);//turn servo to 180º

pinky.write(180); //turn servo to 0º

}

void reset()

{

thumb.write(180); //turn servo to 180