Performance of Two Types of Motors in Robotic Hands Made by Additive Manufacturing

This paper presents the development and comparison of two robotic hands printed on 3D, which will be used in the future as prosthetic hands. Both models were created through the scanning of real hands. These robotic hands are different due to specific motors and sensors which are part of each one. Prototype A has a mini high-power servo motor with metallic gears, in comparison with prototype B, which uses linear stepper motor actuators. They were made by using printer 3D technology and black and blue ABS filaments were used in the process. After assembling, the motors and the sensors were adapted, both are responsible for the movement and perception of touch, respectively. Through the resistance tests, it was concluded that prototype B is more effective, because it supported 20 kg, whilst the other supported 11 kg.