How to build pib´s hand and thumb

pib’s hand consists of 10 printable parts and is assembled in 22 steps.

Step 1

Step 1

Guide the fluorocarbon string from each finger to the bottom hole of D02, then to the lower hole in the same line in D04.

Step 2

Step 2

Place 4 x nuts in the shown spots of D02.

Step 3a

Step 3a

Insert the metal rod into D13.

Step 3b

Step 3b

Then, place a M10 spring on the metal rod and add 2 x M01 ballbearings, one from each side of the rod.

Step 4

Step 4

Insert 2 x teflon tubes with each 65 cm length into the shown spots of D02, then insert 1 m of fluorocarbon string into each tube.

Step 5

Step 5

Connect the highlighted one from the top of D13 to the upper left hole and lower right hole and tie a knot.

Step 6

Step 6

The other string should pass by the shown hole to be connected to the thumb later.

Step 7

Step 7

Place D13 in the shown spot in D02 and insert the end of the spring to ist designated hole. Try to shorten the spring with a plier.

Step 8

Step 8

Insert 80 cm of fluorocarbon string through the shown hole and tie a knot, then leave it loose to be used to motorize the wrist in the forearm tutorial.

Step 9

Step 9

Hold D13 with your finger until you place D11 and D12. Place 2 x nuts in the shown spots and close them with 2 x 25 mm screws
from the other side.

Step 10

Step 10

Put D18 in the shown spot above the tubes and place 1 x nut in it.

Step 11

Step 11

Use 2 x 22mm screws and 1 x 30mm screw in the shown spots and tighten them to connect A04 to A02.

Step 12

Step 12

Place 8 x M01 ballbearings in the shown spots of D02.

Step 13

Step 13

Place the end of the torsional spring attached to the finger into the left hole. Repeat for each finger.

Step 14

Step 14

Insert metal rod in the shown hole to fully attach the finger to the hand. Repeat for each finger.

Step 15

Step 15

Insert each string from the finger into a teflon tube.

Step 16

Step 16

Close the tubes with D10 and 2 x 18 mm screws to secure it.

Step 17

Step 17

Push 1 metal rod with a tool through D10 until you reach the half, then place 1 x T460 spring on the rod. Push then the rod till the end.

Step 18

Step 18

Place 4 x M01 ballbearings in the shown spots of D14.

Step 19

Step 19

Place 1 x M10 spring in the shown space of D13, then place D14 on the other end of the spring and secure the assembly with a metal rod.

Step 20

Step 20

Place 1 x M10 spring to D16, then insert it into the shown hole in the thumb and attach them by using a metal rod

Step 21

Step 21

Pass the wire from step 6 to the shown holes in thumb and D16 and tie a knot.

Step 22

Step 22

Finally, place 1 x nut in the shown spot of D16, place D09 on top of D16 and tighten it by using 1 x 16mm screw.

Final

Congratulations

You did a great job, the hand is assembled!

In order to construct the hand, you will need these printable and non-printable parts: