Servos Is Finally Moving! š¦¾
Itās been a while since my last "Servos" (a Thanos-inspired robotic hand called Servos) update. š Last time, I had finally finished printing the parts. Since then, those pieces have turned into four fingers that can be moved manually!
From Parts to a Hand
"Servos" now has four articulated fingers powered by three servos. Getting here meant assembling the linkages, fitting everything into the palm, installing the servos, and making plenty of small adjustments along the way.
I also spent some time going back to the fundamentals, such as looking at the finger as a planar mechanism, drawing its simplified kinematic structure, and understanding its joints and degrees of freedom before moving into control.
And It Moves! š„
Once the mechanical assembly was working, I could finally start controlling the servos.
Seeing the finger move for the first time was probably my favorite milestone so far. What had been CAD models, printed pieces, screws, and wires suddenly started behaving like a robot. š¤
Now I'm working with serial communication and I2C control (like what I did for the ESP32 musical box), and then I will need to test the servos and setting safe motion limits so the software respects what the mechanical joints can actually handle.
Next up: bringing "Servos" to life through code. š»š¦¾
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