The full mechanical design includes 6 stepper motors (2 each module) and 3 servo motors (1 each module). The steppers utilize a 9 to 1 timing belt ratio to achieve an output holding of ~1.676 Newton-meters. The servo motors have an output torque of 0.147 Newton-meters each which in conjunction allow for object manipulation of over 25 grams. The motor combination yields a precision of about 0.2 degrees per step at a speed of 44 degrees per second.

The GIF shows a shortened range of the TriFinger's capabilities. The limitation of each actuator rotation is only due to the possibility of impacting another mechanical component. With the current design the horizontal arms are able to rotate 180 degrees, the diagonal arms have freedom of almost 180 degrees and the finger tips can nearly rotate 340 degrees in certain configurations. This results in the ability to reach almost all points within its 15 inch diameter workspace.