Im really pissed.
I thought finally, after arriving at this design I could be content, and that everything would work as soon as i finished the distal phalanx coupling mechanism. But, no, there are more problems. Despite taking several hour brainstorming off camera, and then designing for another couple hours, a 4 bar linkage to couple the finger joints cuts off the range of motion, which i dont want to compromise.
This is because I reused the bevel joint from the knuckle, which saves vertical space, but not horizontal. Basicallly because of the way the knuckle works this hand has a breadth of around 150mm, which equates to approximately fingers of that length. My current design is not suitable for this, and so I plan to redesign everything from the knuckle up, to be more narrow and allow for coupling without sacrificing range.
So until then, that’s all for now folks…