PUT-Hand is an open-source project of a 5-finger anhomomorphic gripper. PUT-Hand is designed to manipulate wide range of object including elastic objects. PUT-Hand was designed using as many off-the-shelf parts and FDM 3D printing technology, with single elements requiring aluminium CNC machining or stainless steel turning. The PUT-Hand repositories include all parts necessary to recreate the proposed design: mechanical files, PCB design and firmware.
PUT-Hand-Firmware-HUB repository contains firmware (STM32F0) for HUB unit - integration unit serving as a bridge between each separate DRIVER and high-level controller.
https://github.com/puthand/PUT-Hand-PCB/blob/master/PUT-Hand-HUB.PDF
https://github.com/puthand/PUT-Hand-PCB/tree/master/PUT-Hand-HUB
- SW4STM32 - System Workbench for STM32 - http://www.openstm32.org
- ST-LINK/V2 or compatible emulator
- Open PUT-Hand-Firmware-HUB project using System Workbench for STM32.
- Edit DRIVER modules address list in ./src/main.c file:
const uint8_t drvList_Addresses[MotorDriver_Count] = { .... };- Compile and upload firmware.
- base64.c by Joe DF, MIT License - https://github.com/joedf/base64.c
Unless stated otherwise, PUT-Hand project elements are licensed under a Creative Commons Attribution-NonCommercial 4.0 International (CC BY-NC 4.0). Accompanying firmware and software are licensed under a MIT License.
When using PUT-Hand design files, firmware, software, or utilising project as a whole please cite the following article: PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation
Mańkowski, T.; Tomczyński, J.; Walas, K.; Belter, D. PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation. Electronics 2020, 9, 1147.
@article{putHandMankowski2020,
author = {Mańkowski, Tomasz and Tomczyński, Jakub and Walas, Krzysztof and Belter, Dominik},
title = {PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation},
journal = {Electronics},
volume = {9},
year = {2020},
number = {7},
article-number = {1147},
url = {https://www.mdpi.com/2079-9292/9/7/1147},
issn = {2079-9292},
doi = {10.3390/electronics9071147}
}