ORCA Hand V1 Repair

The ORCA v1 Hand is a low-cost, open-source anthropomorphic robotic hand designed for research and experimentation in dexterous manipulation. It features a lightweight, 3D-printable structure with underactuated fingers that balance simplicity, affordability, and functionality.

The hand is driven by tendons and compact servos, allowing for adaptive grasping of objects with varied shapes and sizes. ORCA v1 emphasizes ease of assembly and modularity, making it accessible for both academic and hobbyist applications. Its design prioritizes reproducibility and flexibility, encouraging collaboration and iterative improvements within the robotics community.

• Cooling: 2 x 12V 50x50x10
• Power Supply: 12V 5A PS-10

• PLA Filament: eSUN PLA (440.86 g)
• Silicone: Dragon Skin 10NV Silicone

• Active DoF: 17
  • Fingers Actuators: 16
  • Wrist Actuator: 1

• Weight: 2.87 lb (1.3 kg)

• Servo Motors:
  • Fingers: 16 x DYNAMIXEL XC330-T288-T
  • Wrist: 1 x DYNAMIXEL XC430-T240BB-T
• USB Communication Converter: U2D2 Controller

• Input Voltage: 12V
• Power Supply: SMPS 12V 5A PS-10

• Official ORCA Hand GitHub
• Official ORCA V1 CAD/STL Files, Assembly Guide, and Bill of Materials
• ORCA V1 Research Paper