Barrett-style underactuated hand: 8 joints driven by 4 DYNAMIXEL servos. CAD assembly and the first printable STLs are released; 3MF, sim models and assembly docs are still to come.
Components (4)
DYNAMIXEL X-seriesActuators (x4)
Underactuated 2-Link FingersMechanism (x3)
Coupled Spread DOFMechanism
Printed Wrist AdapterArm Mount (AgileX Piper reference) — pending
Specifications
Fingers3
DOF8 joints / 4 actuated DOF
ServosDYNAMIXEL X-series (XL330-M288-T class)
InterfacesTTL half-duplex daisy chain
MaterialPLA / PETG, 0.2 mm layers
Print bed256 × 256 mm
File formatsSolidWorks CAD, STL
StatusPartial release — CAD + first STLs