Print-in-place fingers make a lot of sense because they eliminate a lot of assembly, parts, and in this case, knots and elastics, some of our greatest pain points. What's most exciting is that with parametric design, we can keep the termination geometry (which is high-tolerance with respect to the monofilament diameter) and the clearances between joint faces constant while varying the rest of the geometry. See for some promising results, which I will be posting about in more detail shortly. The other interesting thing is that the "negative space" of this joint (plus the cable-routing and termination geometry) can be booleaned out of many other geometries, making this extensible to more organically modeled geometries as well.
The next step is to build the drive-able parametric model for a three phalange push/pull finger and to determine proper clearances for different machines. This dovetails nicely into another high priority project, so I hope to have some more results soon.
, terminus cover clip . For reference, the trimmer line monofilament is 0.053in/1.34mm in diameter, but this can be easily changed.
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- Flexion via nylon monofilament
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- Extension via nylon monofilament
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- Summary of know-free cable termination approach in distal phalange
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- Installing maintenance cover
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- Maintenance cover installed
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- The print-in-place joinery can be used at very small scales when the clearances are maintained parametrically
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- Detail of internal features
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- More detail on internal features
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