3D Printed Robot Hand Prototype

This is a prototype robot hand that my classmate has been developing over the last few months. I've started helping him over the last month to model, print and assemble the actual hand. It's a work in progress and isn't fully assembled, but it was presentation day so I figured I would film its current state. I would have recorded more video, but my camera was constantly dying. The hand was programmed by my classmate using Keil uVision and a TM4C123GH6PM microcontroller. Pulse width modulation and analog to digital conversion is used to allow potentiometers to control the hand. Rotary potentiometers control the curling of each finger, while a slide potentiometer controls the tilting of the fingers. The hand and servo motor cases were designed in 3DS Max by my classmate and myself, and I printed them on my Kossel 3D printer. Currently it's missing fingertips, and the servo arm extensions need to be lengthened. In the finished design, the fingers will be able to touch each other and grasp objects.