Schematics - Speedster Team Finger

1 Interactive 3D Model

Drag to rotate · scroll to zoom · right-drag to pan

Left-drag: rotate Scroll / pinch: zoom Right-drag / two-finger: pan

Interactive model — Full finger assembly

2 Full Finger CAD

General assembly overview — toggle between standard and exploded views

Standard assembly CAD of the Speedster finger

Exploded view CAD of the Speedster finger

Figure 1 — Standard assembly view of the Speedster finger

3 Subassembly CAD

Use the arrows or keyboard ← → to browse subassemblies

Finger Assembly

Figure 2 — Finger assembly only

Capstan Drive

Figure 3 — Capstan drive assembly

Wrist Assembly

Figure 4 — Wrist assembly

Isometric View of Tendon Route

Figure 5 — Isometric View of Tendon Route: PIP/DIP Extensor (Red) | PIP/DIP Flexor (Green) | MCP Extensor (Blue) | MCP Flexor (Orange)

Top View of Tendon Route

Figure 6 — Top View of Tendon Route: PIP/DIP Extensor (Red) | PIP/DIP Flexor (Green) | MCP Extensor (Blue) | MCP Flexor (Orange)

Skeleton Structure of the Finger

Figure 7 — General skeleton structure of the finger. Crossed-Four Bar Linkage (1) | Idler Chain to eliminate Bowstringing (2)

4 Drake Simulation Diagram

System block diagram — scroll horizontally to explore, or click to expand

Scroll to pan · Click to expand

Figure 5 — Drake simulation system diagram

5 Electrical Schematic

Full wiring diagram for the Speedster finger system

Electrical schematic of the Speedster finger

Figure 8 — Electrical wiring schematic for the Speedster finger system

6 ROS 2 Node Graph

Full ROS 2 computation graph — nodes, topics, and action interfaces for the finger system

Drag scrollbars to pan · Click to expand

ROS 2 node graph showing the simulation bridge, finger planner, motion action servers, and whackamole nodes

Figure 9 — ROS 2 node graph: /simulation_bridge feeds motor feedback to /finger_planner, which exposes the motion action servers consumed by /finger_whackamole