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This guide will walk you through creating a prosthetic hand using Arduino, PCA9685 Servo Motor Driver, nylon threads, elastic threads, and 3D-printed parts. It's an exciting project combining mechanical design, electronics, and programming!

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Prosthetic Hand Using Arduino and PCA9685 Servo Motor Driver.

Robotic Hand using Arduino UNO

Have you ever imagined creating a robotic hand? Cool, right?
Before you start building this amazing project, check out this viral video reel showcasing a functional prosthetic hand that inspired this project.

This guide will walk you through creating a prosthetic hand using Arduino, PCA9685 Servo Motor Driver, nylon threads, elastic threads, and 3D-printed parts. It's an exciting project combining mechanical design, electronics, and programming!


Components Required

To create this project, you will need the following components:

Mechanical Components:

  1. 3D-printed parts (fingers, palm, and frame)
  2. Black 1 mm elastic thread (for finger support)
  3. Nylon threads (for finger movements)

![Checkout the 3D Printed Part docs here](3D Files Robo Hand.zip)

Electronics:

  1. Arduino Uno (microcontroller)
  2. PCA9685 Servo Motor Driver
  3. Servo motors (MG90S or equivalent)
  4. Jumper wires (Male-to-Male and Male-to-Female)
  5. Breadboard (optional)
  6. Power supply (5V for the servo motor driver)

Software:

  1. Arduino IDE
  2. Libraries:
    • Wire.h for serial communication
    • PWMServoMotorDriver.h for PCA9685 Servo Motor Driver

Steps to Create the Prosthetic Hand

Step 1: Print the 3D Parts

Print the 3D parts using .stl files. Refer to this video tutorial for detailed guidance on printing the 3D parts.


Step 2: Attach Servo Motors

Attach the servo motors to the prosthetic hand structure as shown in the image.


Step 3: Assemble Nylon Threads and Elastic Thread

  • Use nylon threads to attach the 3D-printed fingers.
  • Tie black 1 mm elastic threads along the fingers for additional support.

Step 4: Tie Nylon Threads to Servo Motors

  • Secure the nylon threads to the respective servo motors to control finger movement.

Electronics Part

Step 5: Connect the Servo Motors

  • Connect the servo motors to the PCA9685 as follows:
    • Black wire: Ground (GND)
    • Red wire: +5V (power)
    • Signal wire (Orange): Connect to the Yellow pin of the servo motor driver

Step 6: Connect the SCL Pin

  • Connect the SCL pin of the PCA9685 to A5 on the Arduino Uno.

Step 7: Connect the SDA Pin

  • Connect the SDA pin of the PCA9685 to A4 on the Arduino Uno.

Step 8: Power Connections

  • Connect the VCC and GND pins of the PCA9685 to:
    • 5V of the Arduino Uno
    • GND of the Arduino Uno

Kindly refer to the following photo for connections. Connections

Programming the Prosthetic Hand

  1. Upload the Code:

    • Before proceeding with the connections, upload the provided code to the Arduino Uno.
    • Make sure to download the necessary libraries:
      • Wire.h
      • PWMServoMotorDriver.h
    • Set the baud rate to 9600 MHz in the Arduino IDE.
    • Keep your PC connected to the Arduino Uno.
  2. Commands for Movements:
    Open the Serial Monitor in the Arduino IDE and enter the following commands to control the hand:

  3. Keep the angle of servo motor between 0 ~ 150 in PCA9685 Servo Driver to 180 ~ 600 degrees.

  • The Max angle is 600 & MIN angle is 150 in PCA9685 Motor Driver.
Command Action
1 Open the hand
2 Close the hand
3 Count 1
4 Count 2
5 Count 3
6 Count 4
7 Count 5
8 Victory gesture
9 Yo gesture

Disclaimer

Ensure proper connections and follow instructions carefully. This project should be attempted under professional supervision. Do at your own risk.


Author


License

All entities and content are trademarks of Robonex Innovations. For more projects, visit our website or social media.

Happy Learning!
Signing off,
Ketan Thorat

About

This guide will walk you through creating a prosthetic hand using Arduino, PCA9685 Servo Motor Driver, nylon threads, elastic threads, and 3D-printed parts. It's an exciting project combining mechanical design, electronics, and programming!

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