delted pcb to bring down to tier 4

I had to delete the PCB I made so that it would go down to tier 4, as it wasn't complex enough. Next time i should be more cautious before making things like that as i never know when things might change.

designed custom pcb

I want to design a custom pcb instead of using adafruit's Im using easy eda. I added usb for power as it is much much more convienent. I am splitting 5v, gnd, and gpio to diff 1x5 conn ports

wiring

I started thinking of the wiring and its gonna be pretty straight forward, just put the hat on top of the pi and then connect the servos to their corresponding spots just like the following image:

updated bom and cad

I updated the bom to now have the raspberry pi 4b (already own) and here is the cad link
Onshape Link

Made a rounded base

I learned how to use the loft feature in onshape and I made a ellipse shaped place so I can put 2 servos next to each other to save space and create a more non blocky shape.

this is my first version and will increase the length if needed
in the fimal assem

Thinking of other designs

i received some feedback on the inital model

so I need to redesign a bit. I decided that I will just make the bottom a bit thicker so i can have rows of 2

had to figure out how to convert stl to step

At first i designed everything in fusion but then migrated to onshape and used STLs :( This was a bad mistake and after i designed everything i read the submission docs and realized it had to be in step. I spend a good hour figuring out what platform to convert them in. I ended up redownloading fusion again and had to convert them there.

started thinking of how i am going to make the fingers move

After looking tediously through all the different nema sereies step. motors i realized that they might not be the right fit because they are usually bulky and dont ship to us, only for really expensive price. So i decided to go with servos because they are easy to control and come in lots of different configureations, i also put together a assem to easily visualize all this and want to use a raspberry pi, with 1 servo hat, which is my decisiona fter lots of reddit pages :) I want to use a raspberry pi because it makes it really easy to do IOT things later which is something i might want to do in the future. this is what i have rn:

made a base to put the full thing on

today i made a base to actually put the hand on

this will help during prototyping to help it stand and also to test different bases and motor/actuator positions.

Cadded the Finger

I cadded the holes on top of the fingers to allow for putting the string through

to simplify the process i just did the middle finger, pinky, ring and thumb

Cadded the base design of palm

I first made this part which will become the palm of the robot hand and there will be strings going through the holes in there going into the bottom, which will allow me to pull different strings/ servo pull the strings with a pully to move each finger up and down.

i took inspration from the Intuitive Surgical claws and how they use a lot of small metal strings to move the gripper in different ways

While doing all this I had to learn how to use a lot of different tools like planes and working with meshes.