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We have now have full parts kits and assembled hands available in limited numbers. Please email me at kshaw2@andrew.cmu.edu
We have now have full parts kits and assembled hands available in limited numbers. Please email me at kshaw2@andrew.cmu.edu
3D Printed Parts
| Item | Preview | Download | Quantity |
|---|---|---|---|
 |
Palm Right STL Palm Right STP Palm Left STL Palm Left STP |
1 | |
 |
Cable Spacer STL Cable Spacer STP |
5 | |
 |
MCP Bracket STL
MCP Bracket STP |
3 | |
 |
DIP Spacer STL
DIP Spacer STP |
3 |
Top Plate
Pick one of these depending on your mounting setup. Mirror it for the left hand.
| Item | Preview | Download | Quantity |
|---|---|---|---|
 |
No Holes STL No Holes STP No Holes OBJ |
1 | |
 |
Xarm/Franka/UR5 STL
Xarm/Franka/UR5 STP |
1 |
Fingertip
Pick one set of these depending on your task.
Soft material is recommended. It requires a different CAD using smaller holes for the brass inserts.
Printer:
We use Ender 3 S1 Pro.
Any deposition-based printer will work, but direct drive such as S1 is required for flexible filament.
Software:
I recommend Cura 5, choose your correct printer. With Cura and the regular quality setting, all parts can be printed in under 24 hours.
See here for sample .3mf files.
Settings (PLA):
Settings (Ninjaflex Edge for Optional Soft Fingertips):
By downloading these files, you agree to our CC BY-NC-SA Attribution-NonCommercial-ShareAlike license which allows you to use and build upon our work non-commercially.
The design for LEAP Hand is provided as-is and without warranty.
