This robot hand is a work in progress.
These open source designs are brought to you by Futurice and contributions from the community. Come work with the best.
The software needed is free and open source, OpenSCAD. You can probably learn it in less than an hour.
Fingers are attached to the plam by Technics connectors. Finger joints have 2 bearings inserted in bearing mounts and connected by a metal shaft. Finger movement is actuated by metal guitar string strung through guide holes top and bottom. Replacable, flexible skin with PELA connectors on the inside surface and touch sensitivity on the outside will be added (not shown).
3D Finger 1, Thumb, Print Layout The thumb can bend double under the palm. End stops limit motion to 90 degrees.
If you prefer to avoid git, you can download the files instead.
git lfs installand
git clone --recurse-submodules firstname.lastname@example.org:LEGO-compatible-gadgets/PELA-robot-hand.git
cd PELA-robot-hand\PELA-parameteric-blocksand then
git checkout master
git submodule update --remoteor cd into the submodule and
git reset --hard origin/masterand
See also Advanced Setup
IMPORTANT: The STL models must be customized for your material, printer and slicer. First calibrate the PELA blocks for your printer to achieve a nice snap fit.
See also Advanced Calibration
If you later update the PELA-blocks project to a newer version, you risk overwirting and loosing your calibration customizations. The simplest solution is to create a backup copy those settings.
cp PELA-parameters.scad ../PELA-parameters-backup.scad
cp PELA-print-parameters.scad ../PELA-print-parameters-backup.scad
Edit the OpenSCAD files to generate different views such as one finger at a time.
Be patient, have a nice meal and a coffee, the models are complex and render slowly.
Creative Commons Attribution-ShareAlike 4.0 International License
These designs are by PELA project contributors, not by the LEGO corporation. They are compatible with LEGO and similar blocks available from multiple manufacturers and online projects. The associated patents have expired. These designs are not identical to LEGO; they have been specially modified for easy 3D printing and offered in the spirit of open source collaborative innovation.
If what you want is available as injection moulded plastic, buy it for the higher quality and durability. These model are helpful when you want something customized, a special color, an unusual material, and for replacement parts when you just can’t wait.
Collaboration and pull requests are welcome: Git Project