Flexy-Hand 2手部假肢模型分享

該假肢模型名稱為Flexy-Hand 2（該模型僅用于公益，不可用于商業(yè)用途）

是Gyrobot在2014年7月3日上傳至Thingiverse網(wǎng)站的。原文地址為（有可能被墻）：https://www.thingiverse.com/thing:380665
數(shù)據(jù)文件下載鏈接：https://pan.baidu.com/s/10F2aHkVg326LgWguaRrwDQ 密碼：lzu3

以下為有道機(jī)翻，不喜勿噴~原文后附。
總結(jié)
第二次柔性手迭代。它現(xiàn)在可以穿在身上，這樣它就可以和機(jī)器人手和機(jī)器獸一起吃東西了
額外功能包括:
挑戰(zhàn)通過Filaflex鉸鏈連接。
兩個(gè)長度/寬度的挑戰(zhàn)可用。
雕刻棕櫚插座。
離散的肌腱內(nèi)部通道。
可調(diào)漲緊。
離散手套連接通道(或“芝加哥緊固件”方法)。
左右版本。
可伸縮。
讓我們走出去，為一些人創(chuàng)造更好的未來。帶來改進(jìn)，重新混合和修改。
請(qǐng)閱讀以下關(guān)于它的文章:http://3dprint.com/8122/flexy-hand-2-3d-print -hand/
這只手是印刷在一個(gè)新的Witbox打印機(jī)善意的再創(chuàng)造。
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編輯20/03/2014:添加身體的“對(duì)生拇指”版本。
編輯24/01/2015:添加一個(gè)熱成型手套，可以在PLA中平壓打印，輕輕加熱成型。
編輯15/12/2014:增加了手掌區(qū)域?qū)挾鴺?biāo)準(zhǔn)的熱表單網(wǎng)格。非常有用的“拇指祝�！卑姹荆�在那里，維可牢附件變得更加困難，試圖通過一個(gè)拇指通過手掌口袋。這是thermoform PLA的一個(gè)很好的例子:http://www.thingiverse.com/thing:403001
編輯18/09/2014:增加了一個(gè)“更寬的手腕拇指指腹”版本的手部。
編輯08/09/2014:添加了一個(gè)“拇指祝�！卑姹镜氖值纳眢w，為那些仍然有一個(gè)可用的拇指。
編輯19/08/2014:上傳了一個(gè)手的身體和護(hù)腕(短的和長的)，手腕尺寸寬10mm。
編輯12/08/2014:在柔性手腕鉸鏈上增加“腳”，幫助增加膠面面積。
編輯29/07/2014:在全尺寸打印時(shí)，肌腱孔直徑從2mm增加到3mm。幫助小比例尺印刷。
編輯16/07/2014:在手指鉸鏈(7.stl)底部打個(gè)孔，方便插入手部。
編輯08/07/2014:雕刻的插座更多，使其更大。
編輯07/07/2014:更新手指的基礎(chǔ)鉸鏈輪廓(7.stl)。這個(gè)新的輪廓，需要較少的力量關(guān)閉手指，但它的形狀，以更好的幫助手指返回。
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的視頻:http://youtu.be/yVvdXgVuwGw
的視頻:http://youtu.be/-Gsy2TgO08w
視頻-迷你靈活手2:http://youtu.be/cFUlxXKbJ0I
視頻-戴手套:http://youtu.be/B0VZqIPkkWY
視頻評(píng)論:http://youtu。感謝3DUniverse和Jeremy Simon
。
http://www.gyrobot.co.uk
http://www.facebook.com/gyrobotuk
指令
印刷:
請(qǐng)參閱手掌插孔的尺寸圖，并按比例縮放所有stls，以滿足您的特定尺寸要求。有兩個(gè)手模型，每個(gè)都有自己的手腕測(cè)量值，一個(gè)比另一個(gè)寬10毫米。
打印手身體與支持，除非你能打印成功懸垂。在45度仰臥時(shí)，可以在沒有支撐的情況下打印這只手的身體。我想盡快嘗試一下。
打印手指部分或垂直(如建模)或水平，再次，我使用支持。原來彎曲手的手指和鉸鏈和這個(gè)完全一樣。
打印鉸鏈段沒有支持。
根據(jù)PDF組裝
鉸鏈:
我為Filaflex建模，它比Ninjaflex和其他柔性PLA atm更有彈性。然而Ninjaflex確實(shí)工作，但它可能有點(diǎn)難組裝，因此適合手的鉸鏈可能需要一點(diǎn)額外的說服用螺絲刀等，也許有一些潤滑可以洗掉，例如液體肥皂。我用Slic3r打印鉸鏈，沒有填充物，2或3周長(取決于規(guī)模)，這使他們很好，“海綿”調(diào)整如果你想要更硬或更靈活的鉸鏈。手指底部的鉸鏈以一定的方式安裝，以幫助手指返回，請(qǐng)參見節(jié)圖顯示。任何問題得到基礎(chǔ)鉸鏈也可以幫助使用工藝刀和修剪一點(diǎn)點(diǎn)鉸鏈或手的身體，YMMV。我發(fā)現(xiàn)以拇指為基礎(chǔ)的鉸鏈合頁一個(gè)45度的攻擊角度是最好的嘗試得到一個(gè)角球首先。
你也可以用硅密封劑鑄造你自己的使用鉸鏈模具，我也包括在這里的完整性。
挑戰(zhàn)。
這是打印沒有支持。
加熱成形版本:
打印在解放軍。在平模式下打印后，用沸水或打火機(jī)/噴燈、熱風(fēng)槍等輕輕加熱軟化，然后將手臂彎曲至90度。一個(gè)好主意是在形成合適的挑戰(zhàn)前在手臂上放置毛巾/布。在本例中，我首先打印了收件人手臂的掃描圖。將鉸鏈間距與打印手寬度匹配。顯然，使用熱量時(shí)要小心。
標(biāo)準(zhǔn)版:
有兩個(gè)長度和兩個(gè)寬度，以適應(yīng)不同寬度的手腕。短版本使用1條尼龍搭扣連接手臂，但長版本有2條插槽。
將手套從“FFX - flexy -鉸鏈?zhǔn)滞蟆鄙线B接到手。還是在Filaflex上。用強(qiáng)力膠水把這些鉸鏈粘好。
肌腱:
選擇一根非拉伸的肌腱來獲得更強(qiáng)的握力，或者選擇一些更有彈性的來獲得適應(yīng)性的握力(想想拿雞蛋)
通過指尖末端的兩個(gè)燈絲孔給每一端喂食。燈絲的兩端應(yīng)該從指尖底部的相同孔中伸出(見圖+照片)。打一個(gè)防滑結(jié)(左邊系在右邊，右邊系在左邊)，剪掉多余的一根。如果張緊正確，結(jié)應(yīng)該隱藏在指尖的基礎(chǔ)孔。將肌腱穿過手指的部分，從手的底部穿出。將適當(dāng)?shù)膹埩ο翟谑痔资綇埦o器上，然后用螺絲進(jìn)一步調(diào)整。我建議使用M2.5mm機(jī)器螺絲，但這取決于你的打印質(zhì)量。
手套:
我想“維可牢”式手套附件(見《電子人野獸》)是你最好的選擇。打印“FFX - Bat_Connection”。在Filaflex和剪兩個(gè)平行的裂縫在魔術(shù)貼手套。開槽的大小和位置應(yīng)該是蝙蝠連接只是推動(dòng)通過開槽和滑入兩個(gè)渠道內(nèi)的雕刻出來的手掌。這連接手套到手，看視頻鏈接在主要說明。或者，你會(huì)注意到手掌內(nèi)側(cè)有4個(gè)凹陷，這些凹陷的位置使你可以安全地鉆過手部，避開肌腱線，以“芝加哥更快”連接手套。
加熱成形網(wǎng):
我先在90deg彎曲了緊固件標(biāo)簽，然后把網(wǎng)孔擰進(jìn)了手掌區(qū)域。這是棘手的，但與一些小尖自攻螺釘，你應(yīng)該能夠擰它的手掌區(qū)域。然后，我用氣體打火機(jī)輕輕地、均勻地加熱網(wǎng)片，直到它變得柔軟柔韌，但不會(huì)太熱而不能燃燒(強(qiáng)調(diào))。一旦軟了，我就用金屬勺子背面向上展開網(wǎng)格，為用戶創(chuàng)造空間，讓他們的手滑到曾經(jīng)涼爽的地方。幾次加熱后，你應(yīng)該有一些適合收件人的東西。當(dāng)手在手套里的時(shí)候，不要加熱網(wǎng)片，等待它變得柔軟但足夠冷，然后在受術(shù)者周圍形成網(wǎng)片。允許泡沫填充。

原文
Summary
2nd iteration of the Flexy-Hand. It is now wearable so it can eat at the same table alongside Robohand and the Cyborg Beast
Extra features include :
Gauntlet attachment via Filaflex hinges.
Two length/widths of gauntlet available.
Sculpted palm socket.
Discrete internal tendon channels.
Adjustable tensioners.
Discrete glove attachment channels (or alternative "Chicago Fastener" method).
Left and right hand versions.
Scaleable.
Let's get this out there and e-NABLE the future to be better for some people. Bring on the improvements, re-mixes and modifications.
Please read the following article about it too : http://3dprint.com/8122/flexy-hand-2-3d-printed-hand/

This hand was printed on a new Witbox printer kindly donated by Recreus.
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EDIT 20/03/2014 : Added an "Opposable Thumb" version of the body.
EDIT 24/01/2015: Added a Thermoform Gauntlet that can be printed flat in PLA and gently heated to be bent into shape.
EDIT 15/12/2014: Added wide and standard thermoform mesh for the palm area. Very useful for the "Thumbless" versions where velcro attachments becomes more difficult trying to route a thumb through the palm pocket too. This is an excellent example of thermoform PLA : http://www.thingiverse.com/thing:403001
EDIT 18/09/2014 : Added a "Wider Wrist Thumbless" version of the Hand Body.
EDIT 08/09/2014 : Added a "Thumbless" version of the Hand Body, for those that still have a usable thumb.
EDIT 19/08/2014 : Uploaded a Hand Body and Gauntlets (short and long) with a 10mm wider across wrist dimension.
EDIT 12/08/2014 : Added "feet" to the flexible wrist hinge, to help increase the glue surface area.
EDIT 29/07/2014 : Increased the tendon hole diameters from 2mm to 3mm when printed at full scale. To help printing at smaller scales.
EDIT 16/07/2014 : Put hole in base of finger hinge (7.stl) so that it can be inserted into hand body easier.
EDIT 08/07/2014 : Sculpted out the socket more to make it larger.
EDIT 07/07/2014 : Updated the profile of the base hinges for the fingers (7.stl). This new profile, requires less force to close the fingers, yet it is shaped to better aid finger return.
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Video : http://youtu.be/yVvdXgVuwGw
Video : http://youtu.be/-Gsy2TgO08w
Video - Mini Flexy-Hand 2 : http://youtu.be/cFUlxXKbJ0I
Video - Fitting a Palm Glove : http://youtu.be/B0VZqIPkkWY
Video review here : http://youtu.be/ceyZsKzNNpY Thanks to 3DUniverse and Jeremy Simon
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http://www.gyrobot.co.uk
http://www.facebook.com/gyrobotuk

Instructions

Printing :

Please see dimension drawing of the palm socket and scale all the stls to suit your particular size requirements. There are two hand models each with their own wrist measurements, one is 10mm wider wrist than the other.
Print hand body with support, unless you can print overhangs successfully. It may be possible to print this hand body without support by leaning backwards at 45deg. I would like to try this one day soon.
Print finger segments either vertically (as modelled) or horizontally, again, I used support. Fingers and hinges from original Flexy-Hand are exactly the same as this one.
Print Hinge segments without support.
Assemble according to PDF

Hinges :

I modelled for Filaflex which is more elastic than Ninjaflex and other flexible PLA atm. However Ninjaflex does work but it maybe a little harder to assemble hence the hinges that fit into the hand body may need a little extra persuading with a screwdriver etc, maybe with some lubrication that can be washed away, e.g. liquid soap. I printed hinges with no infill and 2 or 3 perimeters (depends on scale) using Slic3r, this makes them nice and "spongy" adjust this if you want stiffer or more flexible hinges. The hinges at the base of the fingers are assembled a certain way round to aid finger return, please see section image to show this. Any issues getting the base hinges in can also be helped by using a craft knife and trimming a little off either the hinge or the body of the hand, YMMV. I find with the thumb base hinges a 45deg angle of attack is best to try and get one corner in first.
You can also cast your own with silicon sealant using the Hinge Mould which I also include here for completeness.

Gauntlet.

This is printable without support.

Thermoform version :

Print in PLA. Once printed in flat mode, gently heat either in boiling water or with lighter/blowtorch, hot air gun etc. to soften, then bend over the gauntlet's arms to 90 deg. A good idea is to place a towel/cloth over the recipients arm before forming the gauntlet to suit. In this case, I printed off a scan of the recipients arm first. Match the hinge pitch to the printed hand width. Obviously be careful when using heat.

Standard version :

There are two lengths and two widths to suit the different width wrists. The short version uses 1 velcro strap for attachment to the arm, but the longer version has slots for 2.
Connect the gauntlet to the hand by 2 off the "FFX - Flexy-Hinge Wrist.stl", again in Filaflex. Glue these hinges in place with a strong glue.

Tendons :

Choose either a non stretch tendon cord for a stronger grip, or something more elastic for an adaptive grip (think holding eggs)
Feed each end through the two filament holes in the end of the finger tip. Both ends of the filament should come out of the same hole in the base of the finger tip part (see section image plus photo). Tie off in a none slip knot (left over right then right over left) and snip off one of the excess strand. If tensioned correctly the knot should hide itself in the base hole of the finger tip. Thread the tendon down through the finger segments out of the base of the hand. Tie off at roughly the correct tension onto the gauntlet tensioners, then further adjust with the screws. I suggest M2.5mm machine screws, but it depends on your print quality.

Glove :

I guess a "Velcro" style glove attachment (see Cyborg Beast) is your best bet. Print off the "FFX - Bat_Connection.stl" in Filaflex and snip two parallel slits in the Velcro glove. The slits should be sized and positioned so that the Bat Connection just pushes through the slits and slides into the two channels in the inside of the sculpted out palm. This connects the glove to the hand, see video link in main description. Alternatively, you will notice 4 dimples in the inside of the palm, these dimples are positioned so you can safely drill through the hand avoiding the tendon lines for "Chicago Faster" connection of the glove.

Thermoform Mesh :

I bent the fastener tabs at 90deg first and then screwed the mesh into the palm area. This is tricky but with some small sharp self tapping screws you should be able to screw it the the palm area. I then heated up the mesh gently and evenly with a gas lighter until it becomes soft and pliable but not too hot to burn (emphasis). Once soft I then expanded the mesh upwards with the back of a metal spoon to create room for the user to slip their hands into once cool. A few re-heats later you should have something that would fit the recipient nicely. Don't heat up the mesh whilst the hand is in the gauntlet, wait for it to become soft but cool enough to be touched before forming it around the recipient. Allow for foam padding.