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Here we will go over the basics of 3D printing and assembling the Brunel Hand.
First you need to head over to this link on thingiverse and read all about the Brunel Hand. Here are some things you need to know in order to make a Prosthetic Hand that is compatible with our project :
We use the same motors listed in the bill of materials from Open Bionics but we use the PQ12-R servo version. We use the 6V 63:1 gear ratio version. Open Bionics uses the PQ12-P version, which are different, they require a special circuit in order to read the feedback from the motors. We use the servo version which is much easier to work with. Open Bionics used to sell a circuit board made for the Brunel Hand but they don't anymore, so we used an arduino board for our project.
In order to build the Brunel Hand, you need to purchase the additional hardware listed in the bill of materials, on the Brunel Hand Thingiverse page. If you want to build our version of the Brunel Hand, here are the additional parts you will need to purchase :
- 6V Nimh Battery pack
- Adafruit ESP32 Feather Board
- 12x12X7.3mm Momentary pushbutton
- Regular 5 mm Led
- 3v Linear Voltage Regulator
Choose which model you want to print ( right hand or left hand ) and print all the necessary components. You can find a list of all the components needed in the assembly instructions on the Thingiverse page. We had to modify some files a little bit so that it would fit our project, so instead of printing the version you can find on thingiverse, you should print the versions available in this repository.
Here are the files :
- Modified end cap ( Actuonix updated their model of servomotors and we had to redesign the end caps so they would fit the new version )
Modified End Cap ( the file is the same for the left and right hand )
- Modified Motor cover ( we had to modify the motor cover in order to be able to fit the Feather Esp32 arduino board inside the hand )
Right Hand Version -- Left Hand Version
- Modified Palm cover ( we had to modify the Palm so that we could fit the button and Led for our design )