Tendon-Driven Robotic Hand Assembly Process

Step A: Assemble all parts through interconnecting joints for each finger

Step B: Non-Elastic Tendon Installation
  • Thread through the central hole at the fingertip tip to the base
  • Leave ~20cm redundant length for motor connection

Step C: Elastic Tendon Installation
  • Thread both ends through the left/right holes at the fingertip tip, exiting at the bottom
  • Tighten and secure with a tendon fastener at the base
  • Enables automatic extension (return to initial position)

Step D: Finger Fixation to Palm Backplate
  • Drill M3 holes according to the reserved positions on the backplate
  • Use M3 screws to attach fingers at pre-located positions on the backplate

  • Align pre-located holes → Connect palm backplate with front frame
  • Connect with 2cm M3 copper pillars
  • Secure both sides of palm with screws and nuts

Component A: Motor + Lever Panel
  • Mount horn to lever panel with M3 x 4 screws

Component B: Tendon Fixation to Panel
  • Route each finger tendon through dedicated channel
  • Secure with side plate and lever panel alignment (4x holes)
  • Ensure tendons are firmly clamped against movement

(Note: Channel tightening requires side plate + lever panel alignment and pressure)

Component C: Motor Mounting on Frame
  • Use 6-8 screws (3-4 on front/bottom each) for motor fixation
  • Make M3 threaded holes at the frame’s reserved positions. Put the motor in the frame, place the cover plate over it, and fasten using M3 screws.

  • Align side panel holes between palm (Step2) and motor frame (Step3)
  • Secure with screws and nuts to join the two frames