TriFinger

Based on published sources · Not tested by us · Sources checked 2026-10-01

Overview

TriFingerEdu v1 is a nine-axis torque-controlled manipulation platform built from three FingerEdu modules, with a documented TI evaluation-board control route. [S005] [S006] [S007]

This entry covers TriFingerEdu v1 in the Open Dynamic Robot Initiative hardware repository, rather than treating every TriFinger platform as the same build. The selected design has nine torque-controlled degrees of freedom in three FingerEdu modules attached to an aluminum-profile frame. [S005] [S006]

Official website · Source code

Specifications

Detail	Description
Type	Three FingerEdu modules on an aluminum-profile frame; selected TriFingerEdu v1 variant Reported by source [S005] · Checked 2026-10-01
Intended users	Researchers able to fabricate actuator hardware and integrate real-time motor control Editorial assessment [S001] · Checked 2026-10-01
Assembly	Not known
Calibration	Not known
Operating system	Not known
Computer needed	TI electronics guide describes a real-time PC and CAN card for a 1kHz control loop; no host sizing or latency test performed. Reported by source [S007] · Checked 2026-10-01

3D preview

Preview not available yet. A model has not yet been prepared and approved for display on this page. This does not mean the project lacks CAD files; see Source files and licenses for the reviewed source availability.

Assembly and use

Build the fingers and frame as a matched configuration

Each FingerEdu module uses three actuator modules derived from the repository's three-axis leg design. The surrounding shells, printed finger structure and rubber fingertips turn those shared actuator components into a manipulation finger. The frame guide separately lists aluminum profiles, brackets, end caps, printed connectors and 3 mm polycarbonate barriers. It also names a Basler camera and lens; these references do not establish a complete calibrated perception system. [S005] [S006]

The actuator v1.1 documentation describes a prepared encoder kit as an alternative to fabricating the motor-shaft assembly and related machined pieces. Upstream calls the shaft assemblies functionally interchangeable, but present-day kit availability and a complete delivered budget were not verified. The shared actuator core and an assembled finger are different cost and weight scopes. [S006] [S009]

The printing guide distinguishes structural FDM/SLS parts from precision SLA or multijet pulleys. Bearing-seat tolerances and print orientation matter: a file being present does not establish that arbitrary print settings produce usable mechanics. The TriFingerEdu directory also distinguishes simplified visualization meshes from other design files. [S005] [S010] [S012]

The documented electronics use TI evaluation boards

The FingerEdu instructions select the Texas Instruments evaluation-board route and specify 24 V power and two CAN communication channels per finger module. The electronics overview describes the F28069M LaunchPad with DRV8305 booster boards and a real-time PC/CAN-card control loop at 1 kHz. These are documented architecture requirements, not measured end-to-end performance on a catalog-built system. [S006] [S007]

The guide calls out jumper removal to isolate USB-connected host equipment from externally supplied power. It distinguishes programming through USB from running stored firmware, with different boot-switch settings. The separate flashing guide further distinguishes a RAM/debug build from a flash build and notes that detaching the debugger does not stop the running program. No wiring, flashing or motor motion was performed here. [S007] [S008]

Available designs do not constitute a complete bring-up procedure

The flashing document leaves the Code Composer installation and source-checkout steps unfinished. The linked actuator testing page contains headings and navigation but no substantive test procedure. Those gaps remain relevant even though assembly and component documentation are extensive. Exact firmware, host software, calibration and complete-system qualification still need configuration-specific work. [S008] [S011]

The preserved hardware repository has a BSD-3-Clause license. Purchased TI boards, encoder components, firmware dependencies and external software do not automatically inherit that license. This profile establishes researched TriFingerEdu design coverage; it does not claim a tested build, complete sourcing quote, reproduced torque performance or demonstrated manipulation policy. [S003] [S005] [S007] [S009]

Cost

No current, complete configuration-specific build cost has been established for this profile.

Source files and licenses

Available project sources support research coverage; complete build and commercial qualification remain separate.

Layer	Availability / license
mechanical design	available · BSD-3-Clause TriFingerEdu/FingerEdu frame and actuator design files; visualization meshes are separate from fabrication parts. No geometry or physical build verification claimed. [S003] [S005] [S006] [S009] [S012]
electronics	not found · License not fully assessed Selected route documents purchased TI evaluation boards and control/toolchain requirements. Complete matched electronics fabrication, firmware and host-software payloads were not established in this hardware-repository review; not a claim of closed source. [S006] [S007] [S008]
firmware	not found · License not fully assessed Selected route documents purchased TI evaluation boards and control/toolchain requirements. Complete matched electronics fabrication, firmware and host-software payloads were not established in this hardware-repository review; not a claim of closed source. [S006] [S007] [S008]
software	not found · License not fully assessed Selected route documents purchased TI evaluation boards and control/toolchain requirements. Complete matched electronics fabrication, firmware and host-software payloads were not established in this hardware-repository review; not a claim of closed source. [S006] [S007] [S008]
documentation	available · BSD-3-Clause Selected repository documentation; external component documentation retains separate terms. [S003] [S005] [S007]

Selected torque-controlled hardware configuration does not require a particular learned policy or dataset.

References

Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.

S001 · open-dynamic-robot-initiative / project contributors
Upstream project overview
Accessed 2026-10-01 · README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S002 · open-dynamic-robot-initiative / project contributors
Repository revision and release metadata
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S003 · open-dynamic-robot-initiative / project contributors
Repository license
Accessed 2026-10-01 · LICENSE
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S004 · open-dynamic-robot-initiative / project contributors
Pinned repository artifact inventory
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 archive file inventory
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S005 · open-dynamic-robot-initiative / project contributors
mechanics/tri_finger_edu_v1/README.md
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 / mechanics/tri_finger_edu_v1/README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S006 · open-dynamic-robot-initiative / project contributors
mechanics/finger_edu_v1/README.md
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 / mechanics/finger_edu_v1/README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S007 · open-dynamic-robot-initiative / project contributors
electronics/ti_electronics/README.md
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 / electronics/ti_electronics/README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S008 · open-dynamic-robot-initiative / project contributors
electronics/details/details_flashing.md
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 / electronics/details/details_flashing.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S009 · open-dynamic-robot-initiative / project contributors
mechanics/actuator_module_v1/actuator_module_v1.1.md
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 / mechanics/actuator_module_v1/actuator_module_v1.1.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S010 · open-dynamic-robot-initiative / project contributors
mechanics/actuator_module_v1/details/details_3d_printed_parts.md
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 / mechanics/actuator_module_v1/details/details_3d_printed_parts.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S011 · open-dynamic-robot-initiative / project contributors
mechanics/actuator_module_v1/details/details_actuator_module_testing.md
Accessed 2026-10-01 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 / mechanics/actuator_module_v1/details/details_actuator_module_testing.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S012 · open-dynamic-robot-initiative / project contributors
Complete archive filenames
Accessed 2026-10-01 · Preserved archive inventory
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.

Research and review details

Source research only; no installation, physical build or performance test performed. No affiliate links added.

Profile edited 2026-10-01 · Sources checked 2026-10-01 · Next review target 2026-10-31

Revision: 66af1522b4fba0ec4a1d7790e66f5e4652208d30 (commit snapshot; no published stable release found). Combined hardware and software repository activity recorded 2022-09-06 [S002]

Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1

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