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Three Finger Robotic Hand

3D model description

Demo of the hand

For assembly instructions check out the video:

This is a design of an articulated 3 finger robotic hand. It is meant to look like a robot, like an artificial device from the future, and not like a cosmetic hand. Each finger is independent from each other, has flexion and extension movements, and the thumb can also move sideways to oppose to the other two fingers.

You can use this for your animatronics, robotics, automation, cosplay or other projects that you ambition.

What you get here are three STL files for each finger, one STL file for the palm, and one for the base. The design has been customised for FDM 3D printing. I used an Ender 3 for the prototype, so, if you have a better printer you are flying!!!.

Even though the worm screw will last a fair bit if it is made in PLA, I found that it will last longer when it is made in PETG. I’m sure that this will depend on the quality of the filament since my PETG is better than my PLA. If you can print this one in nylon or carbon fibre it’s even better!!!.

The hardware that you need to bring to assemble the hand:

*m3x12mm screw ...1pc
*m3x16mm screw....2pcs
*m3x5mm grub screw....4pcs
*m3 nut..........7pcs
*self tapped screw 3mm OD (~4G max.)x 9mm long.....5pcs, and 5mm long.....1pc

Steel pins 1.25 to 1.6mm in diameter, of different lengths:
*9mm long.....3pcs
*10mm long....6pcs
*17mm long...3pcs
*18mm long...7pcs
*21mm long....3pcs
*25mm long.....1pc

Note: you can use a headless steel nail and cut it as required.

*Four pololu micro metal gearmotors 6V LP as minimum or equivalent . Check the link for reference

*Controller of choice
*Power source

3D printing settings

Layer height used is 0.2mm or smaller.

Supports are required for angles greater than 46deg. Be careful when removing the supports later, although there are not many.

Dimensional accuracy here is important so printing with a brim is preferred to avoid warping and a later mismatch of the links and rods.

  • 3D file format: STL



Designs 6
Downloads 148

Engineer interested in mechanisms, robotics and design in general.



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