NIAMH COLES - Robotic Finger
J1.11, J1.12, J1.13, S1.1 - 06/23/24
The 1.1 prototypes are the very first prototypes, and are modelled after human bones. The S1.1 prototype is a socket to hold the joints in place while testing.
J1.11, J1.12, and J1.13 were designed on paper, then modelled in Solidworks. They were then printed using Any-Cubic Plant Based Resin in the Elegoo Saturn 3 Ultra printer.
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There were no issues with printing, curing or durability for the J1.1 prototypes.
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Prototype S1.1 had multiple issues while printing. Because it was significantly larger, the print supports needed to be much larger. Even accommodating for the greater weight, S1.1 disconnected partway through printing and had to be reprinted.
Dimensions of the J1.1 prototypes. The last digit of the prototype number indicates the joint segment, with 1 being the lowest, and 3 being the uppermost segment.
Notes:
The openings for the "tendons" in J1.1 were too close to the center, and the delta in length between bent position and straight position was too small for the "muscles" to adjust the position of the device more than a few degrees in either direction as shown to the right.​​
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In addition, the channels for the "muscles" were too wide, resulting in too much movement in undesired directions.
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Recommendations:
For future prototypes, consider using a fixed axis joint, or narrowing the channels for the "muscles". Also consider moving the "muscles" farther from the axis of rotation to increase the difference in length between bent and straights positions.
J1.11, J1.12, and J1.13 in Solidworks.
S1.1 design and dimensions.