The humanoid arm is one of the most relevant projects. It is realised with a 3D printer and the help of 8 servomotors controlled by one Arduino Mega board and other electronics.
For the movement of the hand and fingers are
6 small servomotors were used (1 for the wrist, 5 for the fingers)
with torque 1,6kg/cm. The inner rib in Nayoln, which can be noted
in the picture on the right, allows the 5 servomotors to pull or push individual fingers,
thus making an opening or closing.
The movement of the elbow and shoulder is made possible by 2 other servomotors, this time with a torque of 20 kg/cm.
Motion commands have been given, such as you can see at the end of the video, through two simple Arduino boards One that only later will be replaced by a single card. The code is quite simple, it is in fact only a precise sequence of actions: shoulder rotation, elbow rotation, hand opening, hand closure, wrist rotation.
Finally, on display also at the 2020 robotics competition in which my high school participated.