Design for Additive Manufacturing of a Robotic Hand with Two Thumbs

Abstract

This paper shows the mechanical design by additive manufacturing (DFAM) of a robotic hand with 5 fingers, where the little finger is replaced with a thumb. The aim of this work is trying to look for a mechanical perspective, in order to develop a functional prototype that allows us to visualize and identify all the advantages that we could get with an object’s grip through a hand with two thumb fingers. Also, we pretend since the prototype manufacturing by Fused Deposition Modeling (FDM) show the design technique application based in divergent and convergent remix on digital models of robotic hands like Inmoov and Parloma. Several prototypes were made to obtain as a result robotic hand called Kool, which has advantages of mechanical design, from weight, shape, and cost compared to previous prototypes.