CURRICULUM 1.0.0+bc95463f48e6 · beginner

Building a Sophisticated 5-Finger Robotic Hand

Students will understand actuators, controllers, sensor integration, and tendon-driven mechanisms, and be able to prototype a precision robotic hand.

TIME100.0h
MODULES9
BUDGET₩4500000–6500000
REVIEWED2026-08-29

YOUR FIELD LOG

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A university-level practical curriculum starting from the fundamentals of robotics to designing, manufacturing, controlling, and verifying an 5-finger robotic hand.

Students will understand actuators, controllers, sensor integration, and tendon-driven mechanisms, and be able to prototype a precision robotic hand.

STUDY MAP

Curriculum

1

Foundations of Theory and Design

  1. Fundamentals of Robot Kinematics10.0 hours · Understand the basic definitions of robot kinematics and the concept of rigid-body transformation.
  2. Tendon-Driven Mechanism Design10.0 hours · Understand the basic mechanical structure of tendon-driven mechanisms and the principles of joint simulation.
  3. Actuator and Controller Selection10.0 hours · Understand the rated voltage, current, and communication characteristics of DYNAMIXEL XM430-W350-T actuators.
2

Fabrication and Assembly

  1. 3D Printing and Part Machining15.0 hours · Understand part fabrication using carbon-fiber-reinforced PC filament (PC-CF) and optimization of printing settings
  2. Bearing and Fastening Part Installation10.0 hours · Understand mechanical tolerances and installation principles of bearings and shafts for precision robotic hand fabrication.
  3. Wiring and Building Safe Power Isolation10.0 hours · Understand how to configure independent 12 V power branches for actuator driving.
3

Control and Verification

  1. Firmware Development and Control15.0 hours · Understand DYNAMIXEL smart actuator communication and control framework.
  2. Sensor Integration and Feedback Control10.0 hours · Understand the configuration principle of a voltage divider circuit using an FSR 402 sensor and a 10 kΩ resistor
  3. Performance Testing and Verification10.0 hours · Design quantitative test metrics to verify the robot hand's precision and repeatability

BILL OF MATERIALS

Parts and tools

PartModel / manufacturerQuantityKey specificationsSelection and compatibility
DYNAMIXEL Smart ActuatorTendon and joint actuationXM430-W350-Trobotis11
Stall Current
2.3 A
Stall Torque
4.1 N·m
Standard Voltage
12 V

Precision actuator integrating position, velocity, and current feedback

Alternatives: DYNAMIXEL X series with identical communication protocolCompatibility: DYNAMIXEL Protocol 2.0, 12 V Power Branch
DYNAMIXEL Port-Integrated Robot Control BoardActuator commands, sensor acquisition, and operating state machine execution without a separate communication bridgeOpenCR 1.0robotis1
CPU Frequency
216 MHz
Max Input Voltage
24 V
ADC Resolution
12 bit

Improves reproducibility and safety by removing external RS-485/TTL bridge and termination/pull-up circuits

Alternatives: Equivalent ROBOTIS controller with built-in DYNAMIXEL TTL portCompatibility: Built-in DYNAMIXEL TTL x 3, Built-in DYNAMIXEL RS-485 x 3, Direct XM430-W350-T connection, FSR 402 divider circuit uses only 3.3 V sensor power, Analog input signal does not exceed 0~3.3 V range, 12 V actuator power separated from ADC/sensor circuit
Isolated Desktop Power AdapterSupply power to actuator 12 V branchGST160A12-R7Bmeanwell3
Output Voltage
12 V
Rated Output Current
11.5 A
Rated Output
138 W

Constructs independent low-voltage DC branches for 4/4/3 actuators without exposed AC terminals

Alternatives: Equivalent isolated 12 V adapter - at least 11.5 A per branchCompatibility: Each adapter output used as an independent fused branch, Parallel connection of positive (+) outputs is strictly prohibited, Independent branch total rating 34.5 A >= actuator peak 25.3 A, Keep each output as an independent branch; never parallel positive (+) outputs, 3 branches allocated for 4/4/3 actuators, Use a 10 A fuse and an accessible physical power disconnection means per branch
Fingertip Force Sensing SensorMeasure fingertip contact force and grasping force feedbackFSR Model 402interlinkelectronics5
Active Area Diameter
12.7 mm
Lower Sensing Limit
0.2 N
Upper Sensing Limit
20 N

Secures contact force feedback within thin fingertip structure

Alternatives: Thin-film force sensor with official datasheetCompatibility: Placed under fingertip pad, Requires ADC input divider circuit
10 kΩ Resistor for FSR DividerConfigure a voltage divider with FSR 402 to acquire force signal via OpenCR ADCAdafruit Product 2784adafruit5
Resistance Value
10 kΩ
Maximum Power
1/4 Watt
Maximum Voltage
300 V

Specifies quantity and electrical rating of divider resistors required for lab

Alternatives: 10 kΩ, at least 0.25 W, 5% or less axial resistorCompatibility: FSR 402 1 per unit resistance 1 units, OpenCR ADC input
Branch Locking ConnectorDetachable branch for finger-specific power/signal harnessMicro-Fit 3.0molex12
Pitch
3.00 mm
Maximum Contact Current
8.5 A
Maximum Voltage
600 V

Reduces disconnection during vibration and simplifies finger module replacement

Alternatives: Equivalent locking branch connector with official ratingCompatibility: Use only for individual actuator/finger harness downstream of 10 A adapter branch fuse, Current per connector limited to 1 A for XM430 2.3 units, Do not use for 9.2 A aggregate branches
ATO Inline Branch Fuse HolderInstall 10 A branch fuse on positive (+) output of each 12 V adapter0AFH0001Zlittelfuse3
Continuous Current Rating
15 A
Maximum Voltage
32 VDC
Lead Wire Gauge
14 AWG

Fixes overcurrent protection component per branch in wiring diagram and purchase list

Alternatives: At least 32 VDC, at least 15 A ATO inline holderCompatibility: 0287010 ATOF 10 A fuse, GST160A12-R7B independent branch
10 A ATOF Branch FuseOvercurrent protection for independent branch of 4/4/3 actuators0287010.Ulittelfuse3
Current Rating
10 A
Voltage Rating
32 V
Typical Cold Resistance
7.70 mΩ

Protects against wiring faults with a rating lower than the 11.5 A power branch and higher than the 9.2 A peak

Alternatives: Fuse with same ATO specification, 10 A, at least 32 VDCCompatibility: 0AFH0001Z holder, Up to 4 actuators per branch, stall sum 9.2 A
Dyneema SK78 High-Strength Fiber TendonTransmit actuator tension to finger jointsD-Pro 1.5 mm / 01505-0150-010liros1
Diameter
1.50 mm
Breaking Strength
230 daN
Working Stretch Limit
1 %

Ensures reproducibility of tendon replacement with products specifying actual diameter, breaking strength, and stretch

Alternatives: Traceable Dyneema SK78 line with diameter 1.5 mm, breaking strength at least 230 daNCompatibility: Capstan edge rounding, Repetitive bending test required
FDM Structural Carbon Fiber PC FilamentFabrication of finger links and palm framePrusament PC Blend Carbon Fiberprusa3d1
Filament Diameter
1.75 mm
Recommended Nozzle Temperature
285 °C
Recommended Bed Temperature
110 °C

Fabricates structures requiring stiffness and dimensional stability with possessed FDM equipment

Alternatives: Engineering filament for FDM with official material property sheetCompatibility: FDM 3D printer, Hardened steel nozzle required
Maintenance-Free Polymer Sleeve BearingFriction and clearance management for wrist and high-load rotation axesJSM-0810-10igus4
Inner Diameter d1
8 mm
Outer Diameter d2
10 mm
Length b1
10 mm

Reduces maintenance and contamination with maintenance-free structure

Alternatives: Official sleeve bearing with identical 8×10×10 mm specificationCompatibility: 8 mm shaft, 10 mm recommended housing bore tolerance
8 mm Precision Aluminum ShaftWrist/joint rotation axis for JSM-0810-10 bearingAWMP-08igus2
Shaft Diameter
8 mm
Cutting Length Tolerance
1 mm

Reduces clearance errors by fixing bearing inner diameter and shaft diameter at purchase stage

Alternatives: Tolerance-specified 8 mm shaft compatible with JSM-0810-10Compatibility: JSM-0810-10 inner diameter 8 mm, Chamfer after cutting to assembly length
M3 Socket Head Cap ScrewFastening finger links, sensor brackets, and palm frameM3×10 JIS B 1176misumi40
Nominal Thread Diameter
3 mm
Thread Pitch
0.5 mm
Standard Head Diameter
5.5 mm

Fixes standard specifications to match CAD holes and assembly tools

Alternatives: Traceable cap screw of identical M3×0.5 specificationCompatibility: M3×0.5 insert nut, 2.5 mm hex key
M3 Brass Heat-Set Threaded InsertForm M3 female threads in PC-CF prints for repetitive assemblyHTBI-M3-BRaccu-components40
Outer Diameter
4.4 mm
Length
5.8 mm
Recommended Hole Size
4 mm

Increases repeatability of disassembly and reassembly compared to fastening screws directly into prints

Alternatives: M3 brass heat-set insert with identical 4.4×5.8 mm specificationCompatibility: M3×0.5 cap screw, PC-CF print 4.0 mm pilot hole

FINAL BUILD

Intelligent 5-fingered Robot Hand Final Production and Testing

Deliverables

Rubric

  • Mechanical precision and operability evaluation
  • Level of real-time control algorithm implementation
  • Completeness of documentation on physical power disconnection and de-energized measurement procedures before maintenance/access after planned shutdown
  • Completeness of documentation (BOM, drawings)
  • Analysis of test data and performance verification

Safety criteria

  • Physically disconnect the 3 isolated power adapters after planned shutdown, and record that the residual voltage in each branch is less than 1 V in DC voltage mode
  • Check the 10 A fuse rating and time-current characteristics for each independent power branch
  • Increase grasping load incrementally after no-load testing in the fixed jig
  • Wear safety glasses to prevent impact during cutting, drilling, tendon tensioning, and grasping tests

RESEARCH LEDGER

Sources

  1. Introduction to Robotics: Mechanics and Control - John J ... John J.Craig-Introduction to Robotics Mechanics and Control ... Introduction to robotics : mechanics and control : Craig ... Introduction to Robotics: Mechanics and Control (3rd Edition) Introduction to robotics : mechanics and control : Craig ... Introduction to Robotics: Mechanics and Control - John J ...books.google.com · textbook · 2026-08-29
  2. Intelligent soft robotic gripper for non-destructive grasping ...nature.com · paper · 2026-08-29
  3. DCX 10 L 10 mm, precious metal brushes, DC motor DCXmaxongroup.com · datasheet · 2026-08-29
  4. ESP32 Wi-Fi & Bluetooth SoC | Espressif Systemsespressif.com · datasheet · 2026-08-29
  5. 1910.212 - General requirements for all machines ...osha.gov · standard · 2026-08-29
  6. Underactuated Roboticsunderactuated.mit.edu · university · 2026-08-29
  7. Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wristarxiv.org · paper · 2026-08-29
  8. US11325264B1 - Tendon-driven robotic handpatents.google.com · patent · 2026-08-29
  9. XM430-W350 e-Manualemanual.robotis.com · datasheet · 2026-08-29
  10. FSR Model 402interlinkelectronics.com · datasheet · 2026-08-29
  11. OpenCR 1.0emanual.robotis.com · technical_documentation · 2026-08-29
  12. Micro-Fit 3.0 Connector Family Specificationcontent.molex.com · datasheet · 2026-08-29
  13. GST160A12-R7B Enclosed Desktop Power Adaptermeanwell.com · datasheet · 2026-08-29
  14. D-Pro 1.5 mmliros.com · technical_documentation · 2026-08-29
  15. iglide J JSM-0810-10 Sleeve Bearingigus.com · technical_documentation · 2026-08-29
  16. drylin R Metric Aluminum Precision Shaft AWMPigus.com · technical_documentation · 2026-08-29
  17. Prusament PC Blend Carbon Fiberprusa3d.com · technical_documentation · 2026-08-29
  18. Socket Head Cap Screws Technical Datain.misumi-ec.com · technical_documentation · 2026-08-29
  19. M3 Heat-Fix Threaded Inserts HTBI-M3-BRaccu-components.com · datasheet · 2026-08-29
  20. ATO AFH Series In-Line Fuse Holderlittelfuse.com · datasheet · 2026-08-29
  21. ATOF 287 Series 10 A Blade Fuselittelfuse.com · datasheet · 2026-08-29
  22. 10K Ohm 5 Percent 1/4W Through-Hole Resistorsadafruit.com · technical_documentation · 2026-08-29