Nice day today, InMoov right hand has been featured on Thingiverse!
I wanted since a while to transform the wrist of the hand because of a lack of DOF. For to do that, I had to dismantle the whole hand...(again) I decided last night to give it a go. Worked something in Blender after creating some gears with Openscad using "Parametric Herringbone and helical gears" from canadaduane in Thingiverse. Actually since it was the first time I used Openscad, it took me a while to figure out the whole thing.
I printed the parts this morning and made a test with the Arduino. I had to adjust some parts of course but the whole thing finally works. I will soon put the parts to download on Thingiverse.
Here are some pictures to illustrate the building of this new part.
|After printing you should have five parts.
|Remove with pliers the support. Fix in the bracket the servo MG995. Use the Arduino to set it to 0 degree.
|Use one of your spare actuator from your servo. Cut it and fix it to the small gear as shown. It shouldn't be oversized.
|Grease the big gear before setting in "rotawrist2".
|Drill and tight fit the gear to "rotawrist3" through "rotawrist2".
|Use hot glue gun to position and fix "cableholderwrist1" to the top of the servo. This will help to guide the rods into the center hole.
|Close the whole thing and tight the 3 screws on perimeter. Make a test run with your Aduino. This is the position you should have when your servo is at 180° for the left hand
|This is where you are going to test your patience and skills. I use twisers for to do the job.