CAD and STL files for the various OpenHand hardware designs. Complete documentation, including assembly directions, can be found at the OpenHand website
Based on the original SDM Hand, the Model T is the OpenHand Project's first released hand design. the four underactuated fingers are differentially coupled through a floating pulley tree, allowing for equal force output on all finger contacts. All finger joints are flexure-based, made with Smooth-On polyurethane. An alternative design with pin-based base joints is also available.
The Model T42 is a two-finger, two-actuator hand designed for more dexterous planar tasks. It is still capable of underactuated, adaptive grasping, but the additional actuator makes it capable of some in-hand manipulation primitives as well as precision grasping. Dynamixels can be replaced by Power HD servos in this design.
The Model O is a three-finger, four-actuator hand designed to replicate the capabilities of commercial hands such as BarrettHand, RightHand Robotics' Reflex Hand, and Robotiq's 3-Finger Adaptive Gripper. Each underactuated finger is independently controlled, while a fourth actuator controls the adduction/abduction angle between two of the fingers. This allows the hand to transition between spherical-grasping and power-grasping configurations.
The Model M2, short for Multi-Modality Gripper, is a minimalist gripper with a single underactuated finger and a library of modular thumb designs. It can only require a single actuator with very simple assembly requirements. Each thumb design can enable a different grasping behavior and allows for faster, more versatile design iterations.
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To start, open up the assembly files for the various hands. Complete sets of stl's should be in each hand directory.
Things to note:
- Most Solidworks parts have dependencies on other parts. To avoid warnings/errors when opening assemblies, be sure to have "Load referenced documents" set to "All" in Options>>External References
- Many of the assemblies use Configurations extensively to cut down on the number of CAD source files I have to maintain. Be sure to check them out!
- More details about our approach to CAD for this project can be found in our CAD Guide