Alright folks…

I know I already shipped this project, but I kind got an unexpected lead. So the reason, I wanted to leave off this project is because additional improvements, such as thumb dexterity or wrist movements would add rabbit holes that deserved projects of their own. But, the person who lent me the hand, also found the missing thumb; it does lack a shell, however. With that, I figured, I’m pretty close anyway, why not add the wrist?

So this work session was spent, predominately, designing a wrist mechanism where a stepper motor could rotate the hand into various orientations. The one thing, that concerned me from the start, was that stepper motors lack positional awareness. At least the kind I’m using does anyway. This means I would need to design a location for an external encoder to fit, that would stay fixed relative to the palm.

This design has been very tedious. The hand is already so compact, that the encoder would not fit, so I am thinking, I can attempt the stepper motor based wrist without encoder values first, and if i detect too much drift, then worry about that addition later. I’ve finished designing the wrist, and am about to send it to print and test fit. Next session, I will find out how that goes.

See yall soon…