ORCA Hand
A robotic hand with 3D-printed parts, silicone or TPU skins, and two servo variants (Feetech or Dynamixel).
- Other
- Open source
- 3D printable
Suggested by Robotheca, created by @orcahand (opens in a new tab), from github.com/orcahand/orcahand_hardware (opens in a new tab). Pinned to commit 37b71dc (opens in a new tab).
- Hardware license
- CC-BY-4.0 (opens in a new tab)
- Software license
- CC-BY-4.0 (opens in a new tab)
- Commercial use
- Allowed
Photo and 3D model
This repository has no photo of the robot yet.
3D preview converted from github.com/orcahand/orcahand_hardware at 37b71dc, under CC-BY-4.0. View the original files from GitHub (198.9 MB) (opens in a new tab)
What it can do
Written by Robotheca from the project's documents.
- Provides a multi-finger robotic hand (ORCA Hand) built from printed parts, with a base variant and a touch-sensor variant with fingertip touch sensors
- Hand fingers are actuated through tendons routed through carpals, tower and spools
Bill of materials
This repository has no parts list Robotheca can read yet.
Build guide
The creator's steps, each with its instructions.
- 1Print the hand parts from the hand print file (Prints-1100.3mf or Prints-2100.3m
- 2Print the silicone skin molds from the silicone mold file
- 3Cast the finger and carpal skins in silicone, or print them in TPU
- 4Assemble the hand, fitting the carpal skin into the carpals (glue if loose)
The guide appears here as you scroll.
Guide by @orcahand (README.md), under CC-BY-4.0.
More guides
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- Feetech or Dynamixel servos drive the hand (the documents mention both servo types for the tower)
- Touch sensors in the fingertips on the touch variant
- Motor connector PCBs are included as Gerber files (ORCA_Motor_Connectors_Gerber) for V1 and V2
Connections
- The documents do not describe how the electronic parts are connected