Hardware Overview
The two servo options share the same hand mechanics; the differences are the servo model, driver board and wiring. Confirm which version you have before assembling the hand.
Mechanical structure
- 4 fingers, each with 2 degrees of freedom: flexion/extension + abduction/adduction.
- Each finger is driven differentially by two servos through a parallel mechanism, and all servos are mounted in the hand.
- 3D-printed shell, linkages and soft finger joints; the whole hand weighs about 400 g.
- The original wrist interface fits Reachy 2's Orbita 3D, and can also be adapted to other robot arms.
CAD and models
- STL / STEP files:
AmazingHand-main/cad/ - Onshape online document and URDF: see the CAD section of
AmazingHand-main/README_CN.md.
Assembly and 3D printing
Before assembly, set the hand to its middle position and install the servo horns at the middle position; the two servo options have different servo horns/splines and travel ranges, so they cannot be mixed.
Wiring for the two hardware options
| Version | Wiring and power guide |
|---|---|
| SCS0009 serial bus | SCS0009 wiring, ID and power |
| PWM (ESP32-S3) | PWM wiring, GPIO and power |
| Camera kit | Camera kit installation |