Robot Hand

We made a robotic hand out of foam and other materials that is controlled by servo motors and an Arduino.

• elastics
• sanding block
• paper clips
• markers
• exacto knife
• needle
• plyers
• fishing line foam
• servo motors
• arduino nano
• glue gun
• glove
• Styrofoam

1. Trace out models hand onto piece of paper
2. Take measurements of the fingers and palm
3. trace out rectangular prism onto foam with measurements taken from the previous step
4. cut the rectangular prism out of the foam
5. repeat steps 3 and 4 for every finger
6. shave rectangular prisms into cylinder with hemisphere on top using the sanding block
7. mark where the joints would be on the fingers
8. cut the marks at a 45 degree angle with exacto knife to make the truncated cylinders
9. trace out models palm and wrist onto foam with marker
10. cut out the palm and wrist with exacto knife
11. shave the edges of the wrist and palm

the measurements were:

Thumb – 2.6/6cm

Index – 3/8cm

Middle – 2.4/8.5cm

Ring – 2.4/8.5cm

Pinky – 2.1/6.5cm

1. take needle and tie fishing line to the end
2. tread the needle through the middle of the three truncated cylinder
3. thread needle at a 45 degree angle into the palm of your hand
4. leave extra fishing line on each end of the hand
5. tie a knot at the top of the finger
6. Using a hot glue gun Glue the knot in place
7. cut the excess fishing line from the top of the finger
8. cut hooks out of paper clips using plyers
9. insert hooks into palm and wrist to hold the fishing line in place
10. repeat for all remaining fingers

1. align finger joints so that the longer sides are facing up
2. cut the elastics into small pieces
3. rest a piece of elastic to connect the two joints
4. hot glue both ends to the finger segments to connect the segments
5. repeat this for all joints

• trace the servo motor onto the bottom of the palm
• cut out the traced piece with the exacto knife
• use plyers to extract the excess pieces of the foam
• insert the servo motors into the cut out rectangular prism
• tie the end of the fishing line from the fingers onto the servo motor