RUKA
  • Introduction
  • Hardware
    • Hardware Overview
    • Bill of Materials
    • 3D Print Parts
    • Heat Set Insert Tutorial + Assembly
    • Finger Assembly
    • Knuckle Assembly
    • Thumb Assembly
    • Power Supply and Wiring Harness Assembly
    • Test Motors and Set IDs
    • Motor Base Assembly
    • PTFE Tubes
    • Palm Assembly
    • Attach Wrist and Motorbase
    • Mount Pulleys
    • Friction Tape and Optional TPU Pads
    • Robot Arm Mounts
  • Software
    • Quick Start
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On this page
  • Printer
  • 1. Download and Print parts
  • 2. Check Tolerancing
  • All Finger Joints
  1. Hardware

3D Print Parts

PreviousBill of MaterialsNextHeat Set Insert Tutorial + Assembly

Last updated 14 days ago

Printer

A Bambu Carbon X1 was used to print the files for the original hand using the recommended print settings.

1. Download and Print parts

The part names are the same as the file names.

If you want individual part files, please download them directly or the .

Plate STL Files for Printing

Print Setting
Right Hand
Left Hand

100% infill Supports required (45 deg threshold, tree support recommended, on build plate only) 0.12mm layer height (if not possible, print at the smallest possible layer height)

100% infill

Supports required (25 deg threshold, tree support recommended, on build plate only) 0.12mm layer height (if not possible, print at the smallest possible layer height)

35% infill

Raft recommended for thumb panel Supports optional (45 deg threshold, tree supports, on build plate only) 0.12mm layer height (if not possible, print at the smallest possible layer height)

35% infill

Supports required (25 deg threshold, tree support recommended, on build plate only) 0.12mm layer height (if not possible, print at the smallest possible layer height)

35% infill

Supports suggested (regular support recommended, on build plate only) 0.2mm layer height

35% infill Supports required (45 deg threshold, tree support recommended, on build plate only) 0.12mm layer height (if not possible, print at the smallest possible layer height)

2. Check Tolerancing

All Finger Joints

The dowel holes may warp during printing, so check that the dowels can fit into the holes (do not push too hard as it may crack the 3D print).

These outer dowel holes should fit the dowel loosely.

The inner dowel holes should fit more snugly but not require much effort to press in.

If the dowel does not fit, use a 2.5mm drill bit to drill out the holes.

Onshape Document
XM430_Pulleys.stl
XM430_Pulleys.stl
XM430_Finger_Parts.stl
Left_XM430_Finger_Parts.stl
XM430_Motorbase_Side_Panels.stl
Left_XM430_Motorbase_Side_Panels.stl
XM430_Backhand_and_Knuckles.stl
Left_XM430_Backhand_and_Knuckles.stl
XM430_Motorbase_Top_Front_Bottom_Plate.stl
Left_XM430_Motorbase_Top_Front_Bottom_Plate.stl
XM430_Palm_Wrist_and_Thumb_Attachment.stl
Left_XM430_Palm_Wrist_and_Thumb_Attachment.stl