Hand: open-source Robot Hand

Summary

Project is licensed under Apache 2.0 Mechanical design is licensed under a : Creative Commons Attribution 4.0 International License. Amazing Hand project Robotic hands are often very expensive and not so expressive. More dexterous often needs cables and deported actuators in forearm i.e.. Aim of this project is to be able to explore humanoid hand possibilities on a real robot (and Reachy2 is the perfect candidate for that !) with moderate cost. => Wrist interface is designed for Reachy2's wrist (Orbita 3D), but it can be easily adapted to other robot's wrist... Amazing Hand is : 8 dofs humanoid hand with 4 fingers 2 phalanxes per finger articulated together flexible shells allmost everywhere All actuators inside the hand, without any cables 3D printable 400g weight low-cost (<200€) open-source AmazingHand_Overview Each finger is driven by parallel mechanism. That means 2x small Feetech SCS0009 servos are used to move each finger in flexion / extension & Abduction / Adduction 2 ways of control are available : Use a Serial bus driver (waveshare i.e.) + Python script Use an Arduino + feetech TTL Linker Detailed explaination are available for both ways and Basic demo software is available also. Up to you ! Table of contents Build Resources BOM (Bill Of Materials) List of all needed components is available here: AmazingHand BOM And remember to add control choice cost (2 options detailed previously) Detailed for custom 3D printed parts are here : 3Dprinted parts Here is guide to explain how to print all the needed custom parts : => 3D Printing Guide CAD Files and Onshape document STL and Steps files can be found here Note that Fingers are the same if you want to build a left hand, but some parts are symetrical. Specific right hand parts are preceded by an "R", and other of the left hand parts by an "L". Everyone can access the Onshape document too: Link Onshape Note that predefined position are available in "named position" tooling, with corresponding servos angles Assemb...