Files

CAD Files:

https://drive.google.com/file/d/1L-LBJeh9vYGSM2A8zRqZG-F30vzHjMsD/view?usp=drive_link

For Manufacturing: 

 the summary guide below gives part numbers for sourcing, as well as their method of fabrication:

1. Source parts

There are a few vendors we use:

McMaster for hardware

Sendcutsend and Protolabs(optional) for manufacturing components

Digikey for all electronics

Look at the above table, and source all the parts from their respective suppliers. 

For structural components:

• All 2d components are waterjet using Sendcutsend with their aluminum 6061 material. The thicknesses of each plate are given in the CAD. With access to a waterjet, these parts can also be made in house.

• The 3d machined  components can be uploaded to Protolabs, also with aluminum 6061. With access to a mill, these parts can also be made in house.

• The 3d printed parts are printed on a Formlabs printer using Tough 2000 resin.

2. Press-fit gears onto shafts

To save space, the gears are press-fit onto the shafts, and glued in place using Loctite Retaining Compound. The spacers that are shown in the CAD are important to make sure are in the correct order, and they will ensure that the gears are in their correct places. To press-fit the gears, we used an arbor press. Once these shafts are fully assembled, place them aside to cure overnight.

3. Ream out bearing holes and press in bearings

For each hole in the structural components received from Sendcutsend, Protolabs, and through 3D printing, ream the holes to the nominal diameter so that the bearings can form a slight press=fit. The holes are purposefully undersized in the CAD for this reason. Press all the bearings to their respective holes using an arbor press.

4. Assemble

Put together all the components as they are laid out in the CAD.  Starting with the PIP joint is easier, and then once the finger is done, then add in the MCP joint components.