Left Hand robot InMoov
Derived from
Description
For more parts and info, see thingiverse.com/thing:17773
Blog under construction, see
inmoov.blogspot.com
youtube.com/watch?v=r_rQ2WJ0dq4
youtube.com/watch?v=JztSQpwZaRU
youtube.com/watch?v=zvbNcuUPHyQ
youtube.com/watch?v=BAs2F4sFVdA
Last of all:
youtube.com/watch?v=tXYF6yY1c9M
Instructions
Print one of each STL files attached. I did it in ABS.
Print leftwriargeV3, leftwristsmallV3,leftthumb4, leftopsurface, arduinosupport, cableholder, with an infill of 30%, 3 shells, best with no support, no raft.
Print from: thingiverse.com/thing:17773 auriculaire2,index2,majeure2,ringfinger2, with an infill of 30%, 1 shell, best with no support, no raft.
Print leftrobpart2V2, leftrobpart3, leftrobpart4V2, leftrobpart5V2 with an infill of 30%, 3 shell, best with raft.
Print leftcoverfinger with an infill of 30%, 3 shells, with support.
Big bolts are now printable. (Not really strong but enough for tests.)
You can replace the 16x3mm for the fingers with pins/pegs of filament instead of bolts, it's cheap, easy, and strong enough. It was a suggestion of FreddyA.
1x8mmx8cm bolt is required for to attach leftwriarge to leftwristsmall.
1x8mmx4cm bolt is required for to attach leftwriarge to thumbbottom.
1x8mmx6cm bolt is required for to attach leftwriarge to leftrobpart1.
16x3mmx2cm bolts are required for all fingers hinges(I have recut each bolt to adapt to finger width)
Glue with acetone like on pictures:
Thumb4 flat parts together but Not the tip.
Finger flat parts but Not the tips(Be carefull not to mix them up, they all have a different size)
Redrill 8mm holes if needed.
If necessary reDrill all finger hinges with 2.5mm drill. If you plan on using filament pegs, redrill at 3mm(Be careful not to break parts)
Fingers should move freely.
Print the forarm without support but with raft. I have already set in some extra parts intended to support overhangs in leftrobpart2V2, leftrobpart3, leftrobpart4V2, leftrobpart5V2
Once printed remove the added supports and the anti-warp structures.
Make sure to remove only the added parts and not the servo brackets.
Redrill the brackets if necessary.
Glue with acetone leftrobpart1, leftrobpart2V2 and leftrobpart5. Make sure the servo brakets are aligned.
Glue together leftrobpart3 and leftrobpart4V2.
Make sure the servo brakets are aligned.
Fit and bolt in the 4 servos and the Arduino board. Check pictures to see which servo goes on which side of the brakets.
Wire the servos to the board.
Run from each servos two rods of fishing Braid (200 LB) to the tip of each finger. Make sure not to twist them on the way through. When passing the bolts of hinges, one rod has to be over and one has to be under. Add on each bolt a ring2 in the hinge. Set your servo in to max position suposedly with straight flat fingers with the horn set to full pull out. Secure the rods at the tip of fingers by making two knots + a drop of cyanocrylate glue. Rods have to be tight fit between the horn and tip of finger.
Once all fingers are wired through, glue the tips of fingers with acetone.
Mount the "lefttopsurface" on the back of the hand with 3mmx2cm bolts.
Glue the leftcoverfinger on top of fingers. Make sure movement is free with hinges.
Update 15/03/12: Big Cover and finger cover for the left hand ready and uploaded, servos and Arduino arrived and almost installed. Added little cable holders to glue, and an Arduino support (thanks to Jestin and pchretien)
Update 21/03/12 I redesigned leftrobpart2 to leftrobpart2V2 due to missing piece of bracket( Thanks Wulfnor)
Update 28/03/12 you can download the scripts for Arduino to either do the pattern motion shown in the last video or use your keyboard to control the servos. thingiverse.com/thing:17773 (you need to install serialterm for keyboard control. Thanks to Crazy Jaw)
Update 01/04/12 of leftWristsmall1 to LeftWristsmallV2 avoids the motion from closing too much the hand. Also added holes for positionning topsurface4.
Update 02/04/12 of leftWriarge1 to LeftWriargeV2, added holes for positionning topsurface4 and two cages for nuts at end of 8mm bolts.
Update 18/05/12 printable bolts, changed "leftrobpart4" to "leftrobpart4V2" for to receive the arm piston. see blog
Update 16/06/12 I have uploaded the rotational wrist.
see: thingiverse.com/thing:25149
Update 22/06/12 I have uploaded the new brackets and modified "leftrobparts" mentionned on my blog.
see: thingiverse.com/thing:25465
Update 22/03/12 Uploaded "leftrobcap3V1" for to close the elbow of the forarm.
Update 23/06/12 Modified all the fingers2 to version3 for easy mounting, also modified leftwristlargeV2, leftwristsmallV2 to V3 version. All holes are ready, and the hinges are ready to be assembled. Rings are already set in the hinges.
Update 16/07/12 Modified leftthumb4 to leftthumb5, oddly it wouldn't fit into wristlargeV2 anymore. added the hole for attaching the cover.
Update 17/09/12 I have uploaded the bicep parts.
see: thingiverse.com/thing:30654
Update 03/01/13 I have uploaded the shoulder parts.
see: thingiverse.com/thing:40040
Update 20/01/13you can now download the torso parts at
cubehero.com/physibles/hairygael/Torso_for_Robot_InMoov
Update 27/02/13 you can now downoload the neck with mechanism
cubehero.com/physibles/hairygael/Neck_Mechanism_For_InMoov/print
Still working on instructions text...
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Hey hairygael, I'm just about to put the left forearm and hand together but I am having questions the photos and sketches don't seem to clarify:
1) Where does the Arduino go? I have the mount printed but I can't figure out where to leave it. I printed the latest versions of the forearm pieces. Could it be that there's no space for it anymore?
2) I see in your photos that there is a 5th servo (a 6th if you count the rota-wrist turning servo) reaching into the wrist. In your instructions you mention there are only 4 servos if you want to leave the Arduino inside. Could it be I am looking at pictures from different iterations? (BTW: I am NOT using the latest servo brackets that change the overall layout.) To be honest, I am confused.
Any picture or indication for placing the Arduino inside would be great. Thanks in advance.
Hi sorry for not answering before but Thingiverse doesn't work correctly and doesn't let me know when there is a new message.
You were indeed trying to make the first iteration with the second iteration servo bracket.
I wish someone would start a wiki page to help people like you.
If have other questions please post on the inmoov forum, I won't miss it.
hi hairygael this is a amazing job. I which you still go forward in the develop of that project
when the head and neck would be available ?
Hi there Gael,
We love the bot and we've been busy printing him piece by piece but have had trouble printing robpart3 for the left hand here. It appears as though something is wrong with this particular part and it never comes out of Makerware properly. Whereas most of the parts end up with an output file of a couple of MB, this part is only ever 12kb and the printer never prints it. It also appears to look a little strange in the interface - is there anything up with it that you can see?
Many thanks!
Actually we just figured it out - the faces all appear to be inverted in robpart3.stl which knocks Makerware for a spin and also shows it rendering looking strange with almost no lighting effects in the interface. I just pulled it into meshlab and inverted the faces - would you like us to send you somehow the updated version?
Hi hairygael, I am very interested to build and try to experiment with your hand. Would you please let me know if you could send me the plastic components of the hand? I am not so young and I would like to start gradualy. I already have 4 servos and the Arduino board. After preliminary mounting the hand, I will try to upgrage my Sherline 5100 to a 3D printer. Yours, Georges
I have made a derivative for the base of the thumb that allows for more DOF.
Please tell me what you think about it.
I will post the right hand parts later.
"Update 01/04/12 of leftWristsmall1 to LeftWristsmallV2 avoids the motion from closing too much the hand."
I think there's a little error here : the fingers can go more further in open position than in closed one. I think it has been modeled the wrong way.
Apart from that you're doing a fantastic job !
I have just finished printing a left hand and will show it soon.
Anar
www.reppersdelight.spacymen.
com
The new fingers print very well. And the spacers/rings included in your finger redesign are brilliant.
This is a great project. My son was born without hands and I've been hoping to start a robotic arm project with him. Our goal is to one day make a prosthetic arm for him that he can use. This may only be just the beginning but it'll make for a great start. Thanks so much for sharing. I'll let you know how it turns out.
I'm developing a low cost myoelectric prosthetic gripper, for my MSc thesis. Right now it has an estimate cost of about 150$. It consists in an EMG circuit designed by myself, an Arduino for the gripper control, and a 2 DOF printable robotic gripper.
When it's finished I'm planning to make it open source, and everything (electronic schematics, control software, and the gripper .STL files, as well as technical details about every part of the project) will be available at www.myhand.com.es. Right now the page has no content because I'm at the fi
nal stages of the project, but it will be ready on summer.
Regarding this hand design, I have to say it amazing, and of course I'm using it in the next version of the myoelectric prosthesis, if the author is OK with that. With this five finger hand I can implement a multifunction myoelectric contro
l and start using machine learning techniques to make a more advanced and useful prosthesis.
Wow, I never expected this project to be used in this field. I'm very, very touched by your comment. Thank you.
A few weeks ago I mentioned using this with some sort of sensing and feedback and servos - here's a project that explains what I was trying to say, much better than I was doing:
http://www.instructables.com/i...
So if we coupled that glove, to your hand, with servos pulling the strings, you could have a remote controlled hand, controlled by your hand. Hazardous materials handling, microscopic work, all sorts of interesting possibilities.
It looks really interesting, i understand what you mean. I would like to play around with those sensors, it seems really like something that should be on the hand. The only thing is, I would rather if the hand could work on it's own, and not always controlled by human hand. More like this http://letsmakerobots.com/node...
How have the 0.8mm nylon rods held up for you? I may have to give that a shot on my next puppet build.
Wow, this is a great project, thanks for sharing! The dexterity of the fingers is really impressive. I like that you're using cables on both sides of the horns to return the fingers to rest position with the same servo. When I start to put hands and arms on my robots I'll definitely look to your designs. Keep up the good work!
Great stuff. But just one Question? What do you mean by "3 Shell" or "1 shell"?. I assume it has to do with Kisslicer which im not familiar with.
Made this left hand, added LEDs to the tips, used speaker wire for the tendons hope it holds up. going to use only two servos for open close and wrist. Adding springs too.
Love the cover for the back of the hand and fingers. you going to upload them? Thanks for your hard work looks great!
License
How do I get the files opened. My computer won't let me. :(
Using Netfabb free version will let you open the STL files