Another redesign session.
The indecision continues, as this session I spent working on 2 entire concepts from scratch. The first idea, was to acutate the proximal joint of the finger from a servo, however, while this worked, I didn’t like how bulky it was. I had the short face of the servo move side to side to allow for roll in the finger joint, but that meant the long side was store in the palm. At this time I also came across some mini dc motors, and while they lacked position readings I also had just enough encoders, to make it all work.
So the second half of this session, I designed the finger module using n20 motors, and even animated its motion on onshape. I plan to simulate it on isaacsim possibly later, but for now this allowed me to determine collisions, without any math ;).
Anyways, that’s all for now folks.