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This project uses 15 servo motors to articulate a robotic hand to rotate a platform, based on the popular project "Axis" made by Mark Sektrakian.

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EricDavidWells/Axis-Reloaded

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Axis-Reloaded

This project uses 15 servo motors to articulate a robotic hand to rotate a platform, based on the popular project "Axis" made by Mark Setrakian. The hand will automatically correct the platform position if it starts to drift off center. A video of the original device in action can be seen here and our device here.

The control algorithm plan trajectories for each of the 3-DOF fingers and calculates the inverse kinematic solutions to each discritized path. The Product of Exponentials forward kinematic solution is used, as well as a standard root solver for the inverse kinematics.

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A Raspberry Pi 3 Model B+ runs all the control algorithms. A Logitech C270 webcam provides visual feedback and the servo's used in the fingers are Lynx Motion HT1's.

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This project uses 15 servo motors to articulate a robotic hand to rotate a platform, based on the popular project "Axis" made by Mark Sektrakian.

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