LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning

We have now have full parts kits and assembled hands available in limited numbers. See the purchase tab for details.

**For the left hand, the only changes are to the thumb assembly instructions and printing a left palm. Do not change anything else.

Prepare

Important, Please Read:

The dots and dashes I've outlined on the motor horn indicate the Home position for the Dynamixels. When the LEAP Hand receives the 180-degree home command at power-up, the Dynamixels will automatically move to this position. Most Dynamixels are shipped already oriented in this home position. For proper assembly, ensure the motor horns are in this home position when attaching to the joints. When the hand moves to its home pose, it should perfectly replicate the CAD model's position.

There are three distinct types of screws used in assembly:

TAP Screws (Left): These Phillips head screws have serrated edges and come included with the Dynamixel brackets
Standard Dynamixel M2x4mm (Middle): These are regular, non-TAP screws supplied by Dynamixel
Hex Head Screws (Right): These are standard hex-head screws
Screw sizing: The first number (M2 or M3) indicates the screw diameter in millimeters, while the second number specifies the length (e.g., 8mm, 10mm).

MCP Assembly

Step 1

Start with MCP Bracket and attach H101 Horn with 4 M2 4mm screws and 4 nuts.

Step 2

Attach Idler and Horn to Motor in the upward orientation using 4 M2 4mm Tap Black screws.

Step 3

Add 6 nuts to the top of the larger S101 bracket and attach to motor using 4 long M2 8mm Tap screws.

Step 4

To the top of the MCP Bracket, add a Cable Spacer and small S102 bracket. Push 4 10mm screws through and screw them into nuts in the bracket.

Step 5

Attach a motor oriented with the top towards the MCP bracket using long M2 8mm Tap screws.

3D Model Preview:

PIP and DIP Assembly

Step 1

Attach larger S101 bracket using 4 short 4mm tap black screws screwed into the MCP side motor.

Step 2

Attach PIP motor to S101 bracket using 4 of the long M2 8mm tap screws.

Step 3

Align H101 Horn, DIP Spacer and larger S101 bracket, and put 4 M2 10mm screws through them followed by nuts inside S101.

Step 4

Attach DIP assembly to PIP motor using 4 black M2 4mm tap screws and idler.

Step 5

Attach DIP Motor to open S101 bracket using 4 of the long M2 8mm tap screws.

Step 6

Attach Fingertip to H101 Horn using 6 M2 4mm screws into 3D brass inserts. Attach Horn to open DIP motor using idler and 4 short 4mm tap black screws.

3D Model Preview:

Repeat three times to create three fingers as below:

Thumb Assembly

Step 1

Attach small S102 bracket with 8 nuts inside to the end of a motor using 4 long M2 8mm tap screws.

Step 2

Attach large S101 bracket to the horn of the motor using 4 short M2 4mm tap screws.

Step 3

Attach motor using 4 long M2 8mm tap screws to S101 bracket.

Step 4

Attach a H101 Horn to the motor using 4 M2 4mm tap screws. Then attach a motor to the horn using an idler and 4 short M2 4mm tap screws.

Step 5

Align small S102 bracket, cable spacer and H101 horn and screw them together using 4 M2 6mm screws and 4 nuts.

Step 6

Screw the finger into the S102 from Step 5 using 4 long M2 8mm tap screws. Screw a new motor into the H101 horn from Step 5 using 4 M2 4mm tap screws and an idler.

Step 7

Finally, align and screw small S102 bracket, cable spacer and fingertip using 6 M2 6mm screws. Screw assembly into motor using 4 long M2 8mm tap screws.

3D Model Preview:

For the left hand, attach the S101 in step two
the opposite way around compared to the right hand thumb.

Assemble Palm and Setup Electronics

1) Attach each of the 4 fingers using (4x) M2 8mm screws.
2) Insert M3 6mm Brass Inserts (5x) with soldering iron at 250 °C into the palm. Also insert them into a mounting lid of your choice.
3) ID Motors one by one using Dynamixel Wizard. Note, the MCP side motors are 0,4,8.
4) Chain all of the motors together. If you are using the optional custom cable, connect each finger and the U2D2 to the custom cable. If not, use the Dynamixel Power Hub to improvise and connect everything together.

ID	MCP Side	MCP Forward	PIP	DIP
Index	0	1	2	3
Middle	4	5	6	7
Ring	8	9	10	11
Thumb	12	13	14	15