I blew a capacitor.
For the first time in my life. Since last update, I’ve been trying to set up the demo with perf board, and realized the I2C lines were inaccessible. So giving up on that, I decided to breadboard it out. This would have been fine, if not for the fact that i took apart the entire breadboard for travel, which when I tried to reassembled, I must have messed something up, because next thing I knew there was a short in my circuit and the pwm driver had blown.
From this point, I made a decision to build my own hand, from scratch, that is robust, easy to assemble, modular, and best of all… my very own. Thus, this session was spent researching, how to approach building a robot hand. From prior context, I decided to not build a tendon driven hand, given their abundance in the robotics community, yet lack of implementation in real scenarios, mostly due to wear issues. Looking at the best hands in the world, I noticed most if not all of them were direct drive, and I am particularly a huge fan of the wuji hand. So, I’ve begun the design of a finger, using mini dc actuators, embedded withing the finger, allowing for a thing hand, that is precise and strong.
Of course the major drawback, I am not adressing is that the use of embedded motors makes the hand enormous. Like 6inch pinky enormous. In fact, I searched it up, and turns out the hand might be larger than Wemby’s. But that’s all right with me, as long as it works.
Anyways, I’ve attached a photo of the wuji hand, which I took inspiration from. But thats all for now folks….