Mechanical hand for sign language. Work in progress. Still need to be able to spread fingers with additional motors.

1. A A
B B
C C
D D
E E
F F
G G
H H
J J
K K
L L
M M
16
16
15
15
14
14
13
13
12
12
11
11
10
10
9
9
8
8
7
7
6
6
5
5
4
4
3
3
2
2
1
1
DRAWN
CHK'D
APPV'D
MFG
Q.A
UNLESS OTHERWISE SPECIFIED:
DIMENSIONS ARE IN INCHES
SURFACE FINISH:
TOLERANCES:
LINEAR:
ANGULAR:
FINISH: DEBURR AND
BREAK SHARP
EDGES
NAME SIGNATURE DATE
MATERIAL:
DO NOT SCALE DRAWING REVISION
TITLE:
DWG NO.
SCALE:1:2 SHEET 1 OF 9
A1
WEIGHT:
NF 5/17
A-NF-HAND-5MAY2017
MECHANICAL
HAND
SOLIDWORKS Educational Product. For Instructional Use Only

2. 1.189
0.20
0.75
3.50
E
E
DD
R
0.125
2.83
0.13
0.56
0.23
0.20
0.13
0.75
0.18
5X
R0.150.95
0.03
2.03
0.875
0.750.75
0.1875
Q
SECTION D-D
SCALE 1 : 1
0.67
0.39
0.20
0.360.63
0.15
0.86
0.20G
H
SECTION E-E
SCALE 1 : 1
0.45
0.60
0.70
0.28
0.20
0.13
DETAIL G
SCALE 2 : 1
0.12
0.10
0.393
0.48
0.11
0.38
0.08
DETAIL H
SCALE 2 : 1
0.03
0.15
0.22
0.33
DETAIL Q
SCALE 2 : 1
0.19
0.10
0.100.15
DETAIL R
SCALE 2 : 1
ALL FILLETS R0.01 UNLESS
OTHERWISE MARKED
PALM FEATURES
PALM NEEDS TO BE
SEPERATE PARTS EITHER
WELDED FOR METAL OR
MODIFIED TO CLIP
TOGETHER AS PLASTIC.
A A
B B
C C
D D
E E
F F
8
8
7
7
6
6
5
5
4
4
3
3
2
2
1
1
DRAWN
CHK'D
APPV'D
MFG
Q.A
UNLESS OTHERWISE SPECIFIED
DIMENSIONS ARE IN INCHES
TOLERANCE ON DECIMALS
DEBURR AND
BREAK SHARP
EDGES
NAME SIGNATURE DATE
MATERIAL:
DO NOT SCALE DRAWING REVISION
TITLE:
DWG NO.
SCALE:1:2 SHEET 2 OF 9
A3
WEIGHT:
NF 5/17
A-NF-HAND-5MAY2017
PALM
.X
.XX
.XXX
.XXXX
ANGLES
+- .1
+- .03
+- .005
+-.0008
+- 3°
SOLIDWORKS Educational Product. For Instructional Use Only

3. 0.12
0.10
0
0.40
2.38
2.66
3.00
0
0.44
0.84
0.59
S
.01 M A B C
B
C
3.87
3.69
0
0.84
1.70
2.56
3.41
0.87
1.72
2.58
3.44
0
0.15
1.25
1.43
2.53
A
2X
0.15
0.13
2X
0.25
0.23
DETAIL S
SCALE 2 : 1
.02 M A B C
.015 M A B C
ALL FILLETS R0.01 UNLESS
OTHERWISE MARKED
A A
B B
C C
D D
E E
F F
8
8
7
7
6
6
5
5
4
4
3
3
2
2
1
1
DRAWN
CHK'D
APPV'D
MFG
Q.A
UNLESS OTHERWISE SPECIFIED:
DIMENSIONS ARE IN INCHES
SURFACE FINISH:
TOLERANCES:
LINEAR:
ANGULAR:
FINISH: DEBURR AND
BREAK SHARP
EDGES
NAME SIGNATURE DATE
MATERIAL:
DO NOT SCALE DRAWING REVISION
TITLE:
DWG NO.
SCALE:1:2 SHEET 3 OF 9
A3
WEIGHT:
NF 5/17
A-NF-HAND-5MAY2017
PALM HOLES
SOLIDWORKS Educational Product. For Instructional Use Only

4. R0.15
0.33
1.00
68.20°
0.28R0.04
3XR0.04
0.20
0.50
0.20
4X
R0.04
0.50
0.20
0.20
0.60
4X
R0.20
0.69
AA
0.75
0.21
R0.10
R0.15
0.28
R0.25
4X
R0.30
0.27
105°
0.10
0.42SECTION A-A
SCALE 1 : 1
0.50
0.44
0.19
4X
R0.20
BB
0.50
4X
R0.20
0.30
37.35°35.00°
R0.16
CC
L
L
3XR0.30
0.20
0.27
R0.25
0.43
0.32
0.74
0.62
1.64
0.10
0.125
0.75
K
SECTION B-B
SCALE 1 : 1
3XR0.30
0.75
0.10
0.27
0.44
0.13
0.63 1.93
0.16
2.56
0.20
0.54
SECTION C-C
SCALE 1 : 1
R0.05
R0.05
R0.29
44.12°
11.70°
0.29
0.31
DETAIL K
SCALE 2 : 1
0.30
0.15
SECTION L-L
SCALE 1 : 1
ALL FILLETS R0.02 UNLESS
OTHERWISE MARKED
A A
B B
C C
D D
E E
F F
8
8
7
7
6
6
5
5
4
4
3
3
2
2
1
1
DRAWN
CHK'D
APPV'D
MFG
Q.A
DEBURR AND
BREAK SHARP
EDGES
NAME SIGNATURE DATE
MATERIAL:
DO NOT SCALE DRAWING REVISION
TITLE:
DWG NO.
SCALE:5:1 SHEET 4 OF 9
A3
WEIGHT:
NF 5/17
A-NF-HAND-5MAY2017
PHALANGES
UNLESS OTHERWISE SPECIFIED
DIMENSIONS ARE IN INCHES
TOLERANCE ON DECIMALS
+- .1
+- .03
+- .005
+-.0008
+- 3°
.X
.XX
.XXX
.XXXX
ANGLES
SOLIDWORKS Educational Product. For Instructional Use Only

5. R0.09
0.175
THUMB PINIONS
18 TEETH
2.25
0.19
0.095
0.20 ±0.02
FINGER PINION ASSEMBLY FEATURES
2X
R0.09
0.20
0.40
0.60
0.095
0.19
0.22
0.20
0.095
0.175
R0.0875
5 TEETH
2.25
0.30
0.19
0.10
0.20
0.15
R0.09
0.18
0.0875
0.20
R0.09
0.10
12 TEETH
0.175
0.0875
R0.09
0.20
0.10
0.20
1.12
ALL FILLETS
R0.02 UNLESS
OTHERWISE
MARKED
ALL PINION GEARS:
PRESSURE ANGLE:14
LINEAR PITCH: 0.0630 in
TOOTH THICKNESS: 0.0371 in
ADDENDUM: 0.02630 in
DEDENDUM: 0.02630 in
A A
B B
C C
D D
E E
F F
8
8
7
7
6
6
5
5
4
4
3
3
2
2
1
1
DRAWN
CHK'D
APPV'D
MFG
Q.A
DEBURR AND
BREAK SHARP
EDGES
NAME SIGNATURE DATE
MATERIAL:
DO NOT SCALE DRAWING REVISION
TITLE:
DWG NO.
SCALE:2:1 SHEET 5 OF 9
A3
WEIGHT:
NF 5/17
A-NF-HAND-5MAY2017
PINIONS
.X
.XX
.XXX
.XXXX
ANGLES
+- .1
+- .03
+- .005
+-.0008
+- 3°
UNLESS OTHERWISE SPECIFIED
DIMENSIONS ARE IN INCHES
TOLERANCE ON DECIMALS
SOLIDWORKS Educational Product. For Instructional Use Only

6. 0.0875
0.0875
0.1125
0.1000
THUMB PINIONS
18 TEETH 0.01 M A B C
0.005 A B
C
FINGER PINION ASSEMBLY HOLES AND PEGS
A
0.12
0.10
0.1125
0.09
0.01 M E F G
0.005 E
F
0.10
0.08
0.1125
0.01 E F G
0.005 E
G
E
0.0875
0.0875 5 TEETH
J
I
0.10
0.08
0.01 H I J
0.005 H
H
0.1125
0.0875
0.12
0.10
0.10
0.08
0.01 K L N
0.005 K 0.01 M N K M
0.005 N
K
L M
0.12
0.10
0.0875
0.0875
12 TEETH
0.01 M Q O P
0.005 Q
O
P
0.087
0.085
N
Q
ALL FILLETS
R0.02 UNLESS
OTHERWISE
MARKED
ALL PINION GEARS:
PRESSURE ANGLE:14
LINEAR PITCH: 0.0630 in
TOOTH THICKNESS: 0.0371 in
ADDENDUM: 0.02630 in
DEDENDUM: 0.02630 in
A A
B B
C C
D D
E E
F F
8
8
7
7
6
6
5
5
4
4
3
3
2
2
1
1
DRAWN
CHK'D
APPV'D
MFG
Q.A
DEBURR AND
BREAK SHARP
EDGES
NAME SIGNATURE DATE
MATERIAL:
DO NOT SCALE DRAWING REVISION
TITLE:
DWG NO.
SCALE:2:1 SHEET 6 OF 9
A3
WEIGHT:
NF 5/17
A-NF-HAND-5MAY2017
PINIONS
.X
.XX
.XXX
.XXXX
ANGLES
+- .1
+- .03
+- .005
+-.0008
+- 3°
UNLESS OTHERWISE SPECIFIED
DIMENSIONS ARE IN INCHES
TOLERANCE ON DECIMALS
SOLIDWORKS Educational Product. For Instructional Use Only

7. 0.15
0.11
6 TEETH
0.15
0.11
1.75 ±0.03
0.06
6 TEETH
0.15
0.11
9 TEETH
2.91 ±0.03
0.15
0.11
9 TEETH
R
0.06
0.050.10
0.08
0.13
0.11
0.10
0.08
3.87
3.84
0.13
0.11
0.01 M
ALL PINION GEARS:
PRESSURE ANGLE:14
LINEAR PITCH: 0.0630 in
TOOTH THICKNESS: 0.0371 in
ADDENDUM: 0.02630 in
DEDENDUM: 0.02630 in
ALL FILLETS
R0.02 UNLESS
OTHERWISE
MARKED
UPPER MOTOR CONNECTING RACK LOWER MOTOR CONNECTING RACK
PIN FOR GEARS
A A
B B
C C
D D
E E
F F
8
8
7
7
6
6
5
5
4
4
3
3
2
2
1
1
DRAWN
CHK'D
APPV'D
MFG
Q.A
DEBURR AND
BREAK SHARP
EDGES
NAME SIGNATURE DATE
MATERIAL:
DO NOT SCALE DRAWING REVISION
TITLE:
DWG NO.
SCALE:2:1 SHEET 7 OF 9
A3
WEIGHT:
NF 5/17
A-NF-HAND-5MAY2017
MOTOR CONNECTING
RACKS
.X
.XX
.XXX
.XXXX
ANGLES
+- .1
+- .03
+- .005
+-.0008
+- 3°
UNLESS OTHERWISE SPECIFIED
DIMENSIONS ARE IN INCHES
TOLERANCE ON DECIMALS
SOLIDWORKS Educational Product. For Instructional Use Only

8. 2.68
3.20
4X
0.12
0.10
4X
0.12
0.10
0
0.27
0.62
1.37
1.72
2.25
2.652.65
2.25
1.50
0
0.40
0.81
0.40
0.81
2.38
2.38
1.18
O
O
0.01 M A B C
0.01 M A B C
C
B0.60
0.20
0.60
0.300.30
0.18
0.1245
SECTION O-O
SCALE 2 : 1
A
ALL FILLETS R0.01 UNLESS
OTHERWISE MARKEDA A
B B
C C
D D
E E
F F
8
8
7
7
6
6
5
5
4
4
3
3
2
2
1
1
DRAWN
CHK'D
APPV'D
MFG
Q.A
UNLESS OTHERWISE SPECIFIED:
DIMENSIONS ARE IN INCHES
SURFACE FINISH:
TOLERANCES:
LINEAR:
ANGULAR:
FINISH: DEBURR AND
BREAK SHARP
EDGES
NAME SIGNATURE DATE
MATERIAL:
DO NOT SCALE DRAWING REVISION
TITLE:
DWG NO.
SCALE:1:1 SHEET 8 OF 9
A3
WEIGHT:
NF 5/17
A-NF-HAND-5MAY2017
THUMB
ATTACHEMENT
SOLIDWORKS Educational Product. For Instructional Use Only

9. II
MODIFIED SPUR GEAR
TO FIT DK SERVO
SAME CENTER SHAPE
AS LARGE SPUR GEAR
0.31
0.14
FLAT WASHER
PRODUCT NUMBER: 15935
SIZE #6
PURCHASED AT www.boltdepot.com
PRICE: $0.06 EACH, 100 FOR $4.14
MATERIAL: NYLON
0.03
0.15
15X 0.03
0.74
JJ
LARGE SPUR GEAR
TEETH: 32
PITCH CIRCLE DIAMETER: 0.375
OUTSIDE DIAMETER: 0.7365
FACE WIDTH: 0.15
HUBLESS
PRESSURE ANGLE: 14.5
MATERIAL: NYLON
SPUR GEAR
PART NUMBER: G010B-18-V48-032-032-N-N (MBA)
PURCHASED AT www.minibearings.com.au
PRICE: $9.05 EACH, 100 FOR $532
TEETH: 18
PITCH CIRCLE DIAMETER: 0.3752 in
BORE: 0.125 in
OUTSIDE DIAMETER: 0.4163 in
FACE WIDTH: 0.1252 in
OVERALL WIDTH: 0.1252 in
HUBLESS
PRESSURE ANGLE: 14.5
MATERIAL: NYLON
SECTION I-I
SCALE 2 : 1
0.10
SECTION J-J
SCALE 2 : 1
DK SERVO MOTOR PURCHASED AT
WWW.MOUSER.COM
MANUFACTURER: ADAFRUIT
MOUSER PART NUMBER: 485-2201
MANUFACTURER PART NUMBER: 2201
PRICE: 10 FOR $5.36 EACH
A A
B B
C C
D D
E E
F F
8
8
7
7
6
6
5
5
4
4
3
3
2
2
1
1
DRAWN
CHK'D
APPV'D
MFG
Q.A
UNLESS OTHERWISE SPECIFIED:
DIMENSIONS ARE IN INCHES
SURFACE FINISH:
TOLERANCES:
LINEAR:
ANGULAR:
FINISH: DEBURR AND
BREAK SHARP
EDGES
NAME SIGNATURE DATE
MATERIAL:
DO NOT SCALE DRAWING REVISION
TITLE:
DWG NO.
SCALE:5:1 SHEET 9 OF 9
A3
WEIGHT:
NF 5/17
A-NF-HAND-5MAY2017
COGS AND MOTOR
SOLIDWORKS Educational Product. For Instructional Use Only