SimpleSliderHand

Parts and fabrication

The README directs builders to read BuildInstructions.pdf before starting. Its main parts are the servo, rail with two carts, OpenCM9 controller, EXP485 power board and high-strength fishing line. A 3D printer and a soldering iron for heat-set inserts are required. SolidWorks and STL files are inventoried in the pinned repository. No current delivered parts or complete integration cost is established here. [S001] [S003]

An optional capacitor board moves the servo back into the required rotation range when power is lost. Tendon tension and calibration need tuning; the upstream design still has backlash and is not recommended for positioning finer than 3 mm or torque control. Upstream reports hundreds of operations without issues but warns that the current fine-tendon design without bearings will not support cycle counts in the thousands. Neither statement is independently tested here. Rail length is configurable and must not be confused with usable jaw stroke. [S003]

Mounting and control reconciliation

The README specifies four M6 fasteners on a 50 mm diameter mounting circle for Universal Robots arms. That is interface documentation, not a verified fit or safety assessment for every arm. [S003]

The root README describes single-gripper firmware, but the software README discusses a Yale openHand configuration with four MX28AT servos. ROS documentation identifies a parallel_gripper package under ROS_Interface, while the root README gives another path and example package name. Reconcile the intended firmware, servo setup, package path and commands against the selected files before applying the instructions. These differences do not establish that the code cannot work. [S003] [S004] [S005]

Available files

The root license is GPL-3.0. Mechanical designs and control documentation are available; their presence does not establish a complete matched control release or source rights for the purchased servo and controller. Preserve the applicable notices when selecting files. No hardware build or test was performed for this profile. [S001] [S002] [S003]