School project – mechanical hand

This article will have an overview of our school project (term 2/6). There are three heads on my group. Our goal with this project is to make a mechanical hand which can move it fingers like a real human hand, electronically controlled. Even point at, pick and crush things!

Before we decided what project we wanted to do, we had several ideas. A sensor based 4wd vehicle to mention one of them. After setting our goal on making a mechanical hand we did our research on google search/images. We only found a single hand (image below) which seemed something we could do in our time, among many other professional vendors.


(THIS IS NOT THE SAME HAND)

It is required by us to setup a budget and plans for the rest of the project. All groups in my class needs to be finish by week 21 when the presentation is.

Me and my group are finish developing the hand and making it. We also got our plans for each week ready. Luckily, we reached our milestone for this week, were we wanted to figure out signal’s need for the RC-servos.

The hand is going to be drifted with five Futaba 148S servos, they cost about $19 each and provide 4.1KG of torque with 6.0v and a twist time of 0.19sec/60 degrees. So far, our budget is on $94, but it may increase by a few bucks due to some small components we might need.

We are still working on the sinew/rod’s before installing servos. We might just clean it for all welding points as well.


Update #1
We have now figured out the servo signals and created a physical servo controller. We are using the 555 timer, two actually, because we had an issue with only using one. It didn’t create a stable output before 30 seconds after start. The
surrounding components, capacitors and resistors are our variables, changing the signal length.

We also did make a counter using two J/K FlipFlops and a dmux to convert the signals.

The circuit’s for this hand is so complex, that we decided to program it all into a Altera card. Logic scheme will be available later when we have completed the project.

Image album.

School project – Mechanical hand

Video of hand in action.

Finger control.

Bottle holder.

Update #2
Many have asked about this hand and how to copy it. I have compiled a list of the material used for our hand.

  • Stainless steel. One large tube for wrist/arm. Small tubes for fingers and a plate for the hand.
  • Bicycle wire and bicycle tube used for bicycle breaks.
  • Sikafleks, a glue like compound.
  • 5 x servos
  • Altera DE II
  • Misc. wires

Even though this hand is made this way. I recmmend you to skip the Altera board. Its FPGA based and overkill for this application. You would achieve your goal quicker with an Arduino.

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120 Responses to “School project – mechanical hand”

  1. Vegard Hammerseth » Blog Archive » Wireless electricity Says:

    [...] We`re about to choose project at school, maybe this is a step up from our mechanical hand? [...]

  2. Manuel Says:

    Hello:

    I would like to ask you some points about your project. I’m a student myself and I’ve a project very similar to yours. I would like to know if it’s possible to give me some information about the construction of your hand. I’ve been watching your videos and I can’t understand the joints in the fingers, specially the welding parts that helps to have movement to each finger.

    I hope you can help me, because I want to build a hand like the one you did.

    Greetings, Manuel.

  3. Vegard Says:

    Hi there

    Did you view all the pictures of the hand? If you take a look on the pictures here http://picasaweb.google.com/v.hammerseth/SchoolProjectMechanicalHand you can choose a picture and zoom in on it. You should be able to see how we did it, if not, I will explain it for you:)

  4. Manuel Says:

    I didn’t know you could zoom the pictures :)

    Thank you; I hope you could help me for any question I could have during the construction of the hand.

  5. Simon Longela Says:

    Hey man,
    I am also working on a project of an artificial hand powered by Nickel Titanium wires. Almost the same as yours by the actuation system is different.
    I am now interested to connect this device to the neural-system of a human being.
    Let me know if u can be part of this.
    my email: longela@gmail.com
    Simon L
    Cape Peninsula University of technology
    South Africa

  6. Vegard Says:

    Simon Longela: I have sent you an email.

  7. Haiidy Says:

    Hiii I would like to kno the exact materials that you used
    I intened to also a mechanical hand for a school project
    but I dnow how to control it …
    Thank you for your help.. :)

  8. Raj Singh Says:

    Hey,
    I am a student also, and i am working on creating a human like robot, but i am stumped on the hand. I have created a hand similar to yours but mine doesnt open up after (ie. it creates a fist, and then there is nothing to pull it back to its original position). Did you face this problem? how would you suggest i fix it?

  9. Roger Says:

    Hello! Your special case’s manufacture lets me really attracts

    I did not know that has is honored to you studies!

    Because of yours manipulator’s movement! Let me really likes!

    I very want to study to you! Did not know that you are willing to teach me!

    I from the Taiwan 25 years old am the student at present

    My mailbox:andy711025@hotmail.com

    Admires you the student Roger

  10. Vegard Says:

    @Haiidy
    Hello

    We used stainless steel, some wire for finger control and five servoes.

  11. Vegard Says:

    @Raj Singh

    Hey

    You can use the same technique used on this hand. You might be able to view it on the pictures from my gallery. Use wire with tubes and give them fixed positions. If the wire can’t go anywhere the finger will have to follow and will therefore close itself.

  12. Vegard Says:

    @Roger

    Hello!

    Thanks.. I think. Don’t quite follow your English. Do you have a specific question?

  13. rummy Says:

    hi there i’m a student myself on a similar kind of project i have a doubt in your circuit board can you give me a clearr view oon that??? i would be greatful if you do so

  14. Vegard Says:

    Hello

    Don’t mind this circuit board. To be honest it’s a hell to work with. I’d recommend you to use arduino

  15. Spyderco C07GS3 Says:

    Great artical, I unfortunately had some problems printing this artcle out, The print formating looks a little screwed over, something you might want to look into.

  16. AZHAR Says:

    hey, i am working on the same project but still not clear about your mechanical design . can you please send more details to me..

  17. Vegard Says:

    Hello Azhar.

    I don’t have much documentation on how the mechanical work is done, but I remember it well. Check out my answers in the relevant youtube videoes and the comments in this page and I think you should have enough. Ask again if it’s not sufficient.

    - Vegard

  18. student Says:

    Hi Vegard,

    Do you think it’s possible to use only one servo and connect 4 wires to each other and let the thumb be fixed (in an alternate position then yours perhaps). So that i can close the hand with only one servo. Budget is limited and also not every finger is supposed to move seperatly. In this case it will be easier to let the wrist rotate with a different servo.
    PS: what kind of wires did you use or doesn’t the stiffness of the material influence the fluent movement of the fingers

    TY!

  19. CES4R Says:

    ESTA BIEN COOL TU PROYECT BROTH

  20. michael uy Says:

    i’m making something that’s like iron man’s glove. ther servo motors moves with the movements of my hand.

  21. Vegard Says:

    Hello

    Sorry for this late replay. I didn’t see the post before now.

    It is possible if you have a strong enough servo.

  22. kumar Says:

    Hi

    I am from india, your project is awesome, but i don’t know how this fingers retract once it is compressed. Please let me know the same, as i could not find any such stuffs that are attached to any of the part.

    warm regards,

    Kumar

  23. Vegard Says:

    Hi Kumar

    The fingers retracts by being pushed by the wires inside the fingers. It’s important that the wire is in a fixed position to make the fingers act as they do.

  24. Matthew Says:

    So the wires act like springs to move the hands back in the original position?

  25. Vegard Says:

    Kind of, but I would’nt call it springs. It’s just push’n’pull.

  26. Matthew Says:

    I only ask because i have been looking into building a robotic hand clock. The hand will count to twelve using a certain method and there will be a screen to display the minutes. I have attempted to build a cardboard model before purchasing anything and have ran into alot of problems. First, i have no idea how you were able to sink the fingers so that the upper part bends, then the middle and finally the joint connected to the hand. So far my first and second joint bend at the correct times but then the upper wieght just pulls everything down into a mess. Secondly, i do not understand how you are able to get the fingers back after flexing. is the string more like a plastic wire? Thank you for your help

  27. Vegard Says:

    Matthew: Nice to read about your interest. The fingers are mostly mechanically synced. The wire has to travel same length on all fingers, almost. We used bicycle wire.

    I think maybe cardboard may be to weak for the forces which are required to close the fingers. There are quite some tension.

  28. Matthew Says:

    You are completly right. I got the model to be able to close into a fist, but i could not devise a method for them to re-extend. I may have figured it out by using a bungie cord but the strain caused my model to collapse into a mess. I guess what I dont understand is the bicycle wire and your method of leting them contract as well as extend. Do the servos really have enough power to push the wieght of the figures back to straight? And there lies another question. To contract and extend a finger, does the servo have to be powered to do both motions? In other words, the servo is not relaxed when the finger extends?

    Like i said before thank you for your help. I just started this project with no previous knowledge of circuits and would like to finish it before winter break ends in a month. I appreciate the information!

  29. Vegard Says:

    Pushpulling the fingers are quite easy and the servoes are way stronger than this. One servo is dedicated to it’s finger and moves front and back.

  30. tomas032 Says:

    hi, can you say me what’s the dimension of hand???

  31. Vegard Says:

    Hello

    What dimensions did you want? The overall hand has the same size as a grown man’s hand.

  32. Matheus Galdino Says:

    dexa eu perguntar tenho que fazer meu TCC(Trabalho de Conclusão de Curso) quero fazer uma mão robótica vcs podem me ajudar sou do brasil por favor me ajude ?

  33. Vegard Says:

    You will have to state your question in English if you want a proper answer.

  34. Marc Says:

    Did you use some chip to stop the servos when they have done one or two laps?
    Sorry for my english.

  35. Vegard Says:

    No, I just wrote it in the code.

  36. ammar Says:

    hi :

    i m doing project on robotic arm and controlling it by my arm (mimicking) using arduino…
    servo part is finished now i m looking forward to build an arm,, i wanna ask u what type of wire u have used inside robot’s fingers??

  37. Vegard Says:

    We used bicycle wire.

  38. ammar Says:

    thnx bro :)

  39. Laura Alejandra Says:

    Hi,

    Nice project! I’m doing an animatronic project about an arm. I liked your project because seems very esay. I have a problem building the arm. Can you help me? what material have you used? Thank you

  40. Vegard Says:

    Hello Laura

    This hand is made from stainless steel with rubber (sicaflex) coating. It’s quite heavy so I recommend you to use something lighter.

  41. Kai Says:

    I distinctly think this site provided an influence http://www.sciencetoymaker.org/

    Check out the robot hand XD

  42. Vegard Says:

    Hello Kai.

    I did not know about this site. The principle used on that toy hand is same which is used on this hand. It’s not really a hard principle to invent.

    Thank you for your comment.

  43. Alex Says:

    From what I know you use pwm, which is based off a position (a 8-bit vector), what are the limits of this vector? I have mine at 1-180 (in binary)and the servos are very unstable at 180. I may have more questions but not atm.

  44. Vegard Says:

    The servo pulse should look like this:

         ____                               ____      +3.3V
        |    |                             |    |                  
        |    |                             |    |
    ____|    |_____________________________|    |____ GND
    
        |<-->|
        1..2 ms
    
        |<------------- 20ms ------------->|
    

    Where 1ms is -90 degrees, 1.5ms 0 degrees and 2ms is 90 degrees.

  45. Alex Says:

    From what does do the servos get power? The fpga? My fpga cant support more then 3 servos on it (it has 4 vcc/gnd outputs). Is there any way to power them all off a socket? I have a 6v adapter but if I put 2 servos on it they are unstable. (not enought current it seems). I dont wnat to end up buyng 2 adapters (even if cheap)…

  46. Vegard Says:

    Yes, the FPGA is supplying the servos, but we did add additional input possibilities. You can just put 6V DC in parallel to supply the servos.

    Check how much ampere your servos require and how much your adapters can supply.

  47. Alexx Says:

    How fingers comes back to the original point , the iron cable forse it, or is a coil?

  48. nicky Says:

    Hi. Thats an awesome project you have. I would like to ask if you have motor driver to control your servo motors? btw. what kind of language did you use to program the board? thanks =)

  49. Vegard Says:

    I have the code, yes and I can share it, but the code on the board is a complete mess. Rather use something else like an Arduino.

    The board is programmed with Quartus and the language Verilog.

  50. Nicky Says:

    Oh great!!!! would your share it ?? I am using Quartus II and Verilog as well and I have a lot of confusion,hope you could help me to solve them. Could you email it to me? =D

  51. Vegard Says:

    The iron cables forces it back.

  52. Vegard Says:

    I’ve mailed it to you.

  53. raunak Says:

    im from india and is there an easy way to make it as i dont have these equipments please send it to my email.

  54. Vegard Says:

    I assume you are talking about the hand construction.

    There isn’t any easy way of creating this and as it require metal work and welding.

    You might be able to make a simpler version with cardboard.

  55. Sunny Says:

    Hi
    I would like to make a special request that if it’s possible for you to send me a clear explanation of how all the electrical/mechanical part of the hand work. Also if you could please provide me with tips of how I can become more proficient in all this motors, programming, circuit stuff as I have a similar project that requires me to build a bionic hand that actually works (meaning can pick pour water into glass n drink, etc… However I’m very confused with the mechanical side of it and don’t know where to start. Any advice would be most welcomed.

    Thanks in advance.

  56. Vegard Says:

    Hello there

    I advice you to browse through all the comments on this page and on my youtube videos. There has been many questions like this all with a different flavour and I feel that I have answered all the aspects of this hand in those comments. If still anything is unclear, come back to this page and I’ll answer the rest. This way we can provide a better answer to all the people who is interested in this kind of robotic, because, it seems like a lot of people is.

    I don’t think a hand is required for your tasks. A regular robotic arm/manipulator should be sufficient to pour water into a glass.

  57. Sunny Says:

    First of all thanks for your prompt reply.
    I google imaged robotic arm/manipulator and found them to be sufficient to pick up a bottle and pour but would they also be able to pick up flat object from a table e.g. book, coin and have enough coordination to build a tower of blocks. Moreover our task specifically required us to build a mechanical hand prosthesis that would not allow the use of the other hand to activate it. (We can use our foot or a sensory activation system). Our budget is $100 so whatever motors we decide to use cannot be very expensive. But after having a look at these robotic arm/manipulator I came across one particular site http://kinovarobotics.com/ which really inspired me as it is a hand which contains only 3 claws but worked brilliantly to do about anything. I was wondering if you could tell me the possible mechanics that would be needed to build such a hand. Example what motors could be used to control the finger movements and if it is possible to build the thing without the arm bit.
    I really need help with the mechanical part of the prosthesis due to my lack of experience and knowledge in this field.

  58. Sam Says:

    Can you please tell e what’s that material you put inside the tubes? it looks like clay to me

  59. Sam Says:

    And how where you able to create those holes inside the material?

  60. Vegard Says:

    It’s called Sikaflex and is a silicone/glue/grout compound.

  61. Vegard Says:

    The holes are tubes. The glue is holding the holding the tubes at a fixed position which is very crucial for this hand design.

  62. Sam Says:

    Thanks for the information. You saved me a lot of headache…….

  63. rodrigo Says:

    Hola!! soy de El Salvador, soy profesor de electronica tengo 23 años! y con un ex alumno hemos inventado hacer una protesis robotica! pero nosotros solo nos enfocaremos en un prototipo con menos capacidades que el suyo por la fuerza del motor! estamos utilizando motores de disqueteras o cd-rom pero el problema que tenemos es de como hacer el diseño de la mano robotica! cres que puedes enviarnos como creastes las articulaciones de los dedos este es mi correo rodrigo-iraheta@hotmail.com me encantaria realizar este proyecto!! te elogio son super originales todos tus proyectos!!! les veo y siempre me sorprendo! neesito de tu ayuda!! porfavor! gracias!

  64. Vegard Says:

    Good day to you Sir.

    I’m sorry, but I have no clue of what you have written. If you want a better response, you will have to write in English (proper).

  65. This Person Says:

    How do you make the fingers stop at vertical and what type of servoes are you using.

  66. Vegard Says:

    The fingers stop at vertical position because the fingers are forced to the position by the wires.

    The hand uses Futaba RC servoes. Specific brand is not important.

  67. Amita Tiwari Says:

    sir, i am making project on robotic hand governed by glove. so, if you wail give an idea of making the robotic hand then it would really help me.please try to mail me the details.

  68. madi Says:

    sir, i’m working on project ‘robotic hand governed by gloves’ and i’ve main problem in mechanical hand. so can you tell me about the material and method of this? please mail me a brief description of making of mechanical hand.

  69. amit Says:

    sir your project is really awesome. i too want to develop a similar type of hand. could you kindly guide me and send me the details required for it. waiting positively for your reply..

  70. Vegard Says:

    Hello Amita

    Which details do you want? most of details has been posted already.

  71. Vegard Says:

    Hello Madi

    This hand is made of expensive stainless steel and simply welded together. You can use whatever material you’d like, as long as it is rigid enough.

  72. Vegard Says:

    Hello Amit

    I do not have many details. The hand is made by free-hand (on the fly) by welding stainless pieces together such that it looks humanish. It uses five RC servoes (brand not is not important). Lastly, use a simple microship to program it, Arduino and such.

    Hope this helps.

  73. Edgar Ulloa Says:

    Hi

    Where I can buy this circuits card that manage the servos?

    cheers

  74. Vegard Says:

    Hello

    Do not buy this card. Rather buy an Arduino. Search for it on Google and you will find several shops.

  75. Nitin Says:

    Hey,
    This is an awesome project. Thanks for sharing with the community. I have a few Q.

    1) When servo pulls the wire, why does the finger move up and now down. What makes them bend at joints?

    2) You are referring to using silicone in the tubes but I do not notice it where and why, Can you please explain?

    3) I see brake wire in one finger, tube in another and strip in third. Is it by design?

    Thanks again…

  76. Vegard Says:

    Hi Nitin. Thanks for your comment. I’ll try to answer them different than I have before. So everyone gets another perspective.

    1.1) For all fingers: when the wire is pulled, each finger closes. This happens because the wire has its smallest path when a finger is closed due to the fixed route of the wire.

    1.2) They bend at the joints because they are loose at the joints. Where else should they bend? if we had locked the joints the wire would bundle in the joints when pushed and probably break when pulled hard.

    2) The fingers are made of hollow metal tubes. To give the wire a fixed path, the fingers had to be filled with a rigid material such that the wire keeps it path. We choose silicone.

    3) Not sure what you mean, but its not by design. Just a get-things-done since its a prototype and its proof of concept was the overall goal.

  77. Bruno Ferreira Says:

    Hey,

    First of all congrats for your project! Thanks for sharing it.
    I’m from Brazil and I’m working on a project very similar and I would like to see the code that you used in your project.
    Could you please send it to me?
    I will program using VHDL language. If you want I can send to you my code after I finish it.

    Thank you!

  78. Vegard Says:

    Hello Bruno

    I just sent you the project code. Do share your code with us when you are done!

  79. amiel Says:

    what kind of string did you use in that mechanism ??

    and what is that grey like cement ??

  80. amiel Says:

    woah i’ve looked this project about 10 times, but still i’m amazed. I’m a 5th year student of bs computer engineering, and i have a project similar to yours, i’m very thankful that you’ve shared this, it answers the question in my head about on how to re-extend the fingers when its close.

    And by the way, i’m using Atmega328 ang s0me flex sensors to control the servos.

    And i have a question, what type of power supply did you used? And what is the output amperes of the power supply to support those 5 servo ??

    Hoping for your response. Thank you in adavance

  81. norbigal Says:

    Hey,
    YOur poject is awesome, and I wanna do sth similar. But I have an important question:
    I also found a parallax servo motor in my city, but I don’t know if it’s worth buying that or would be better to buy a stepper motor. My problem is that I want the hand to make fingers move slower or faster – depeding on my controlling. What’s your opinion? Can I achieve this slower-faster operation with the servo motor, you also used?!?! Thanks in advance for your reply
    norbi

  82. Tamás Drávai Says:

    Hello. Could you tell me where can you bought motors because I am doing mechanical hand. I had made mechaninical but can’t found perfect motor. I had some Dc 12V motors nbut it is faster than mechanical. Fingers can’t follow motors. This is a problem. Plese help to me. Merry chismas. I hope to hearing from you. best wishes Tamás Drávai

  83. Tamás Drávai Says:

    Plese write to tamas.dravai@freemail.hu

  84. noah Says:

    hi!
    can i get your email address?
    please email it to me.

    I need to have a word with you.

  85. Vegard Says:

    @amiel: The strings are bicycle wire and the “cement” is sikaflex. Its a silicone compound.

  86. Vegard Says:

    @amiel: I the onboard regulators for supplying the servos. However, I did try to add external power. 5V 3A was sufficient, depends on your servos.

  87. Vegard Says:

    @norbigal: With a better programming than we did, you can surely make it slower. Its an easy task.

  88. Vegard Says:

    @Tamás Drávai: You buy them online from everywhere. RC servos are quite popular. Just search for “buy RC servos” and you get million hits.

  89. norbigal Says:

    I saw you used Futaba servos. Are they analog or digital? If analog, don’t they vibrate if the torque is reaching a certain level?!?!?! I have already bought my servos, they are digital, but they only have 2,5kg.cm torque. How much is the torque of yours?

  90. Vegard Says:

    They are analog. Digital servos center better, but uses more current over time.

    Of course they struggle when overloaded. They were simply programmed to not go as far, hence not overloaded.

    These Futaba 148S are 3.0kg.cm There exist servos which are ten times stronger.

  91. norbigal Says:

    I got it. Thanks. I just asked about the analog-digital stuff because I wanna do such a project and even improve it, use sensors and an imitator glove which is imitating your hand’s motions, and it’s quite important to have enough torque. I’ve already bought my servos (digital and can move 2,5kg/cm) It’s gonna be my thesis at the university so it must be perfect. :D

  92. Vegard Says:

    Sounds cool. Do submit a video or something of your project when ready.

    I was thinking of making a controller for the fingers using camera directed at my hand, but I never came around.

    I’m doing my thesis this winter+spring as well, but something complete different :) I will post information about it when I feel ready.

  93. norbigal Says:

    I will do. I also had dozens of different projects in my mind, but I wanted to do sth which won’t be done by any of my colleagues – and this one seems to be the only “unique”. :D By the way I it’s not my last semester at the university (in Hungary there’re 7 semesters for the BSC degree and the next one is just the 6th of mine, so I have two whole ones to make it be cool enough.
    Good luck to you and keep up the good work! I’m gonna drop a line and link when it’s ready enough for submitting the first videos.

  94. Stefan Says:

    Good day! I could have sworn I’ve visited this blog before but after going through some of the posts I realized it’s new to me.
    Anyhow, I’m certainly delighted I discovered it and I’ll be
    bookmarking it and checking back often!

  95. TonyNallon Says:

    Hey Vegard,

    Great project! I’m planning to make something very similar for a project in school next year. I willbe fine with the designing and manufacturing end of things…the only thing that confuses me is the code. Is there any chance you could send me on the code for yours via email with maybe a couple of notes here and there to help me understand? No worries if you can’t! Thanks a million!

  96. Vegard Says:

    Hello sir

    Do not worry about the code. Programming servos to move like this and other movements is easy! I do however recommend to use another approach and not to use FPGA. Its not designed for this.

    To conclude, of course you can get the code or I can write you a new one when the time is right.

  97. Andrea Torres Says:

    Your project is amazing! I was wondering if you can email me step by step directions, materials,and including the circuit. I know it’s a lot to ask for but my team and I are doing a similar project and really want to compare if we’re going at the right direction. It would be really helpful and appreciated. Thank You. – Andrea.torres@gmail.com

  98. Andrea Torres Says:

    ^ email is wrong sorry it’s actually andrea.torres510@gmail.com

  99. Vegard Says:

    Hello Andrea. I have sent you an email regarding this matter.

  100. Davi Says:

    how do you stretch the fingers?

  101. Vegard Says:

    Hello Davi and thanks for your interest.

    Because the wire is in a fixed position it almost act like a stick that stiffen the finger once unfolded. Hence, the finger becomes “stretched” as you say.

  102. Davi Says:

    Hi vegard… thanks for your reply, nice work u did with this hand.

  103. Ivan Says:

    Hello. I am delighted with your project and I am going to make something similar. I am a student and I understand that I can’t ask you but if you doesn’t complicate you could is more detailed to write about the scheme of connection and management of servo-drivers. My mail zero777_11@mail.ru

  104. Vegard Says:

    Hello Ivan

    I’m not sure what you mean with “can’t ask you”. The connection scheme is quite simple. Each servo has VCC, GROUND and SIGNAL. Three wires. While VCC and GROUND cables can be connected in parallel, the signal cable must be assigned to a dedicated pin where the servo driver, that you mention, should be in control of.

    As I have written before, the servo driver should be able to produce various signal pulses where each period is fixed at 20ms.

         ____                               ____      +3.3V or +5V
        |    |                             |    |                  
        |    |                             |    |
    ____|    |_____________________________|    |____ GND
    
        |<-->|
        1..2 ms
    
        |<------------- 20ms ------------->|
    

    Where 1ms is -90 degrees, 1.5ms 0 degrees and 2ms is 90 degrees.

  105. Yhago Says:

    Congratulations on your project. I wanted to ask if there is a scheme of work, to project the hand motion to other parts of the body. Thanks for your reply to Spain. Yhago

  106. chan khye Says:

    hi…im planning to build a mechanical arm for my final year project. kinda new to stuff like these.. i was fascinated by the arm that u built and wondering if u could send me some of the info to start with my project. it would be a great big help to me . so pretty pls? thanks in advance!!!

  107. chan khye Says:

    my mail narutokhye@yahoo.com … pls..really need this :)

  108. Free PSN Codes Generator Says:

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  109. Vegard Says:

    I’ve sent you an email.

  110. Jenny Says:

    Hi, your project is very interesting and I would like to build one too.
    Would it be alright if I could see the schematic circuit diagrams used for the mechanical arm?
    If it’s not too much to ask for, would it be OK if I can see the codes used to program the arm using the FPGA?

    My email is jennifer.smith0106@gmail.com

    Thank you

  111. Vegard Says:

    Hi Jenny

    I doubt that its usable, but I will send you what I have.

  112. TAnvir Alam Says:

    Hi, could I also see the schematic circuit diagrams used for the mechanical hand?
    If it’s not too much to ask for, would it be OK if I can see the codes used to program the arm using the FPGA & the documents? I have to complete my project in 5 weeks.

    My email is lazer473@gmail.com

    Thank you

  113. Jenny Says:

    I have sent you an email regarding to your reply. I hope to hear from you soon.

    Thank you.

    Jenny

  114. Wael Says:

    Hello, your project is very good, i’m planning on building a robotic arm as well and then work on a grasping object control. I was wondering if you could email me step by step directions, materials,and including the circuit if it’s not too much to ask. I would be very helpfull. thank you alot

  115. Vegard Says:

    I’m sorry to inform you that there does not exist any step-by-step guide for this project. I can however send you various diagrams and recommendations to control a RC servo with ICs.

  116. Wael Says:

    Hi, sorry for the delay. I will take anything you can help me with. thank you

    My email is: waelbenrejeb@gmail.com

    Thank’s again.

  117. Vegard Says:

    I’ve sent you some documents regarding designing RC circuits.

  118. maxi Says:

    hi, I’m in the process for a similar project, and would like if you can send me some documents that made program and circuit designs and recommendations

  119. Jim Says:

    hi, I was wondering the size of the stainless steal tubing you use and how did you bend it?

    Thanks.

  120. Vegard Says:

    The steel tubes were about 20mm in diameter. It was never bent, but cut and connected with joints.

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