Hand Construction

Required Parts

The construct the hand you will require both 3D printed parts and machined parts. You can find the 3D printing tutorial here and the Machining Tutorial here. All required files for part creation can be found here. For the hand you will need to make the following parts:

Right Hand:

3D Printed Parts:

5x Finger Plate 1x Right Thumb Knuckle 2x Knuckle Plate 1x XL-320 Servo Holster 3x Finger Tip

Machined Parts:

1x Hand Plate

Additional Parts:

11x XL-320 Dynamixel Servo 54x White XL-320 Pegs 24x Grety XL-320 Pegs 2x 4mm x 30mm screws 4x 4mm x 36mm screws 2x 4mm x 5mm screws 8x 4mm nuts

Fingers

The first thing to be done is remove the screw in the center of each XL-320 Dynamixel. Then assemble the fingers as shown in the diagrams below. The pegs are differentiated by color in the diagram so be careful to use the white pegs and grey pegs in the proper areas. There are 4 fingers total for both hands, two per hand.

Thumbs

Below is the instructions for the Right Thumb. The steps for assembling the Left Thumb are identical but use the Left Thumb Knuckle instead of the Right Thumb Knuckle. Image comparisons for the Left and Right hand are shown further below. The Thumbs require two 4mm x 30mm machine screws to hold the XL-320 dynamixel to the XL-320 Servo Holster as shown in the diagram below.

Hand Construction

Below are the instructions for constructing the Right Hand. The Left Hand follows identical instructions but has the Hand Plate reversed. An example of both are shown further below. For the first step of hand construction, we use two 4mm x 36mm machine screw to mount the 2 XL-320's to the hand. These servos hold the fingers and allow them to splay. The servos are secured by nuts as shown in the figure below:

Next we attach the thumb.