Mechanical files

CAD

Preview the full hand assembly in the browser, and access the source CAD and release exports through the licensed file blocks below.

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CAD Release Files

CAD and mechanical exports are released under CERN-OHL-P-2.0.

Source

Onshape

View mode of the source CAD workspace. Make a copy to inspect the assembly and develop your own changes.

STEP

Whole Hand

STEP file export of the whole hand.

3MF

Bambu 3MF

Printer-ready Bambu Lab plates tested on a Bambu Lab X1C with a 0.4 mm hotend nozzle.

Tolerancing guide video

URDF

Robot Model

URDF robot description for the MIDAS Hand model.

Print package

Bambu Lab 3MF Notes

The included .3mf files are prepared and tested using a Bambu Lab X1C with a 0.4 mm hotend nozzle. Print settings, part orientation, and plate layout are based on that setup.

The tested material setup uses Bambu PLA Basic for rigid structural parts and Bambu TPU 95A HF for flexible cover parts.

Included plates

Thumb_Parts includes all parts required for the thumb.
Finger_Parts includes all parts required for one finger and can be used for the index, middle, and ring fingers. For a full hand, this plate needs to be printed 3 times.
Palm_Parts_1 includes the palm base, small wire fixtures, square washers, and the assembly jig.
Palm_Parts_2 includes the remaining PLA parts used on the palm.
Palm_TPU includes the TPU palm cover.
TPU_Tip is an optional print to use in place of Paxini sensors.

Check and adjust slicing settings for your own printer, filament, nozzle size, and calibration before printing. Review part orientation, support settings, and material assignment before starting a build.