MECHANICAL

TriFinger Full Assembly - Exploded View

TRIFINGER FULL ASSEMBLY

The Full Assembly of the TriFinger is divided into 3 identical components which is connected to a connector in the middle. The middle connector is also the position where the microcontroller & the power supply will be placed and where all the wirings will go through. the 3 components are fingers which are connected to a t-slotted frame with a 3D printed bracket that holds the arms as well as the actuators. The bracket holds most of the motor drivers for the steppers as well as a protoboard for each motors. the empty t-slotted frames are used for camera mounts for future projects.

FINGER ASSEMBLY

In each of the identical fingers shown above, there is a Finger Assembly where all the moving parts are contained. This Assembly is divided into 4 components each with a very important role. the Vertical Arm is the home of the first motor which controls the rotational movement of the horizontal arm. The Horizontal Arm has the same exact configuration as the vertical arms. the difference is only in the adaptors which is designed specifically for each connection. It is also where the second motor lies. with the diagonal arm and the finger tip, the arm has a total of 3 DOF per arm.

TriFinger Finger Assembly - Exploded View

twin arm.avi

TriFinger Arm Assembly - Exploded View

ARM ASSEMBLY

In both the vertical and the horizontal arm, contains a 1:9 timing belt ratio in order to increase the motor's precision and torque. As seen on the figure, the horizontal arm is connected to 3 adaptors. 1 for the vertical arm, one for the bracket, and the last one for the diagonal arm. these adaptors are the only thing that differentiate the vertical arm and the horizontal arm. Each connection is also connected to bearings to decrease friction.

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