# An Open-Source Mechanical Design of ALARIS Hand: A 6-DOF Anthropomorphic Robotic Hand

**Authors:** Ayaulym Nurpeissova, Talgat Tursynbekov and Almas Shintemirov, Senior Member, IEEE  
For correspondence: _ashintemirov@nu.edu.kz_

This paper presents a new open-source mechanical design of a 6-DOF anthropomorphic ALARIS robotic hand that can serve as a low-cost design platform for further customization and utilization for research and educational purposes. The presented hand design employs linkage-based three-phalange finger and two-phalange adaptive thumb designs with non-backdrivable worm-and-rack transmission mechanisms.  
The proposed open-source mechanical design of the robotic hand has been created using SolidWorks CAD software. The final assembled model is shown in Hand_final_version.SLDASM file.

[![IMAGE ALT TEXT HERE](https://img.youtube.com/vi/O3b1aeXxE-A/0.jpg)](https://www.youtube.com/watch?v=O3b1aeXxE-A)

Please refer to the ALARIS site for more information: https://www.alaris.kz/research/robot-hand/