LBS finger v1

In a previous post a new mechanism, namely linkages was introduced to replace the previous tendon driven mechanism. We justified this in a previous post. In this blog post, we will show you the prototype design steps that we took to fabricate our first LBS finger v1. (Loh Boon Shen Finger)

Step 1: Design a quick prototype on Google Sketchup (5 hours)

Fig 1: Corner view 

Fig 2: overlapped movements

Step 2: Use the CNC router to cut out the plastic pieces + removing the stubborn adhesive that was used to hold the plastic sheet on the base (over night + 2 hours)

Fig 3: Cutting the pieces out of a sheet of 2mm acrylic plastic

Step 3: Assembly + making Additional bits out of 2mm Aluminium (2 hours)

Fig 4: Open finger

Fig 5: Closed Finger

The finger was too chunky. Mechanically sound but it was also too heavy. It took us a long time to put this together but we plan to re-design such that it can be easily put together to:

• form an actual robot hand
• make space for the servos (Decided to use HTX900 since they are available from Ray)
• create space for the light sensors on the finger tips
• have the entire thing made out of plastic with the exception of the screws and bolts
• Reduce the weight 
• Make it smaller