I have uploaded on thingiverse the new brackets for the servos in the forarm. Here are the instructions for to adapt them inside. These let you decide wether you want to add a fifth servo allowing animation of all the fingers or if you rather keep the Arduino Uno inside the forarm.
I would advise you, if you plan on building the complete arm (biceps and shoulder) to remove the arduino Uno from inside the forarm and get the pinky finger giggling around!
|This is on "robpart3"|
|Do the same treatment to "robpart4V2"||.|
|You should have something like this now. Here you see the servo(index)|
|Set in the servo (thumb) that is half way in "robpart1 or rotawrist". (Sorry on this picture all the cables and actuators are already fixed in, this is due to a lack of the correct photo.)|
|You should have now three servos aligned in the forarm with the two new brackets set above. Thumb, index , pinky.(again sorry for the lack of picture)|
|Set above the servo (majeure) as shown.|
|Attach the last above servo (ringfinger) in it's bracket.|
|Run the nylon rods as shown. Rods run a bit differently now.|
|I hope the following pictures help you to figure out how rods run. Again, it doesn't have to be that way, you might come out with a much better solution.|