Hand

Step 1: Collecting All Required Parts

3D Printed Parts

• Shoulder Joint Left
• Shoulder Cover Left
• Upper Arm Left
• Elbow Servo Mount Left
• Elbow Joint Left
• Wrist Joint Left
• Palm Left
• Shoulder Joint Right
• Shoulder Cover Right
• Upper Arm Right
• Elbow Servo Mount Right
• Elbow Joint Right
• Wrist Joint Right
• Palm Right

Images of Parts

Shoulder Joint Left

Shoulder Cover Left

(Image of Shoulder Cover Left)

Upper Arm Left

Elbow Servo Mount Left

Elbow Joint Left

Wrist Joint Left

Palm Left

(Image of Palm Left)

Electronic Parts

• Servo Motor Set x 2

Step 2: Hand Assembly Procedure

Left Hand Assembly

Insert images of left shoulder, left shoulder cover, upper arm left, elbow servo mount left, elbow joint left, wrist joint left, and palm left

Items Required: 2 x Waveshare ST3020 Servo Motors, 11 x M3 Nuts and Bolts

1. Insert 5 x M3 nuts into the designated slots on the Upper Arm Left. Place 2 nuts on one side and 3 on the opposite side, then apply adhesive to secure them. Insert images of nuts being inserted into both sides of the Upper Arm Left

2. Insert a Waveshare ST3020 servo motor into the Elbow Servo Mount Left, ensuring the servo cables are routed through the designated gaps as shown. Insert images of the servo motor being inserted into the Elbow Servo Mount Left and proper cable routing

3. Secure the Elbow Servo Mount Left to the lower section of the Upper Arm Left by passing the servo cable through the provided hole and fastening with 2 x M3 bolts. Insert images of the Elbow Servo Mount Left being fixed on the Upper Arm Left and cable routing

4. Insert 4 x M3 nuts into the Wrist Joint Left and glue them securely. Insert image of nuts being inserted into the Wrist Joint Left

5. Attach the Elbow Joint Left to the Wrist Joint Left using 4 x M3 bolts. Insert image of the elbow joint being fixed onto the wrist

6. Connect the Upper Arm Left to the Wrist Joint Left by aligning the holes on the Elbow Joint Left with the servo horn holes on both sides of the servo motor. Secure using servo bolts. Insert images of fixing the upper arm portion with the wrist portion

7. Mount the Shoulder Joint Left onto the top of the Upper Arm Left using 4 x M3 bolts. Insert image of the shoulder joint being fixed on the Upper Arm Left

8. Insert an M3 nut into the Palm Left and secure it to the Wrist Joint Left using an M3 bolt. Insert images of nut insertion and palm attachment to the wrist

The left hand assembly is now complete.

Right Hand Assembly

Repeat the same procedure as the left hand assembly for the right hand using the corresponding right-side components.

Final Status

Both hands are now fully assembled.