# TriFingerEdu v1

<img src="images/manipulator_platform_1.jpg" width="600"><br>*TriFinger Manipulator Platform*

* the manipulator platform has 9 torque-controlled degrees of freedom
* it consists of 3 identical finger modules attached to an aluminum frame structure
* the finger module is describes in detail here: [Finger Module Page.](../finger_edu_v1/README.md)
* the frame an the required components are described below

<img src="images/3_fingers.jpg" width="600"> <br> *Finger modules assembled - weight: 930g each*  

<img src="images/tri_finger_edu_overlay.jpg" width="600"> <br> *TriFinger Manipulator Platform - picture overlay<br>Picture: Felix Widmaier, Manuel Wüthrich and Shruti Joshi*

## Frame
<img src="images/manipulator_frame_1.jpg" width="400"> <br> *Frame structure - t-slotted aluminum profiles*

* The frame structure consists of aluminum profiles from Item.   
* You will need the following components to build the frame.  

### Aluminum profiles
<img src="images/aluminum_profile_1.jpg" width="300"> <br> *Item Aluminum profile*
* Item aluminum profiles - Size 8 - 40mm x 40mm - Item part number: 0.0.026.33
* Cut the profiles to length according to [this drawing](details/aluminum_profiles.pdf).

### Angle brackets
<img src="images/item_angle_connector.jpg" width="300"> <br> *Item 90 degree angle bracket*
* 3 x 90 degree large angle brackets - Item part number: 0.0.411.32

### End caps
<img src="images/item_end_caps.jpg" width="300"> <br> *Item end caps*
* 9 x end caps - size 8 - Item part number: 0.0.026.01

### T-slot nuts
<img src="images/t_slot_nuts_1.jpg" width="300"> <br> *Item M5 t-slot nuts*
* T-slot nuts M5 - Item part number: 0.0.480.54

### Center connector
<img src="images/frame_center_connector.jpg" width="400"> <br> *3d printed frame center connector*

* 3d printed center connector - [STL file](stl_files/frame_center_connector_top.STL)

### Barrier
<img src="images/manipulator_barrier_1.jpg" width="400"> <br> *Barrier - consisting of 3 polycarbonate sheets*

<img src="images/barrier_elements.jpg" width="400"> <br> *3mm polycarbonate sheets*

* We use 3mm polycarbonate sheets to keep the objects inside of the manipulation area.
* Cut the polycarbonate sheets to size according to [this drawing](details/frame_barrier.pdf).

### Camera arm
<img src="images/camera_arm_1.jpg" width="400"> <br> *Camera mount for Baseler camera*
* 3d printed camera mount - [STL file](stl_files/camera_mount.STL)

### Cameras
<img src="images/basler_camera.jpg" width="400"> <br> *Basler camera  with Basler lens*
* Basler camera:  acA720-520uc
* Basler lens: C125-0418-5M

## Assembly
<img src="images/frame_assembly_1.jpg" width="400"> <br> *Frame assembly - 6mm hex driver*

<img src="images/frame_assembly_2.jpg" width="400"> <br> *Frame assembly - 6mm allen key*

## Transport
<img src="images/manipulator_platform_2.jpg" width="400"> <br> *The finger modules can be stacked for transport. Weight: 8kg*

<img src="images/manipulator_platform_3.jpg" width="400"> <br> *All the components fit into a 1650 Pelican case. Total weight: 21kg*

## Upside down
<img src="images/manipulator_platform_upside_down_1.jpg" width="400"> <br> *The manipulator platform can also be used upside down*

## 3D Model for Visualization
The simplified STL files for visualization and simulation can be found here: [STL Files Visualization](stl_files_for_visualization)

<a href="details/manipulator_dimensions_visualization.pdf"><img src="images/manipulator_dimensions_visualization.png" width="600"></a><br>*Click on picture above to view the PDF drawing*

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## View the TriFinger cad model in your web browser <br>

<a href="https://open-dynamic-robot-initiative.github.io/cad_files/trifinger_edu_v1"><img src="images/trifinger_cad_1.png" width="350"></a><br> *TriFinger Edu v1 <br> Click on the picture to view the cad model in your browser*

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## More Information
[Open Dynamic Robot Initiative - Webpage](https://open-dynamic-robot-initiative.github.io)  
[Open Dynamic Robot Initiative - YouTube Channel](https://www.youtube.com/channel/UCx32JW2oIrax47Gjq8zNI-w)   
[Open Dynamic Robot Initiative - Forum](https://odri.discourse.group/categories)  
[Open Dynamic Robot Initiative - Paper](https://arxiv.org/pdf/1910.00093.pdf)  
[Hardware Overview](../../README.md#open-robot-actuator-hardware)  
[Software Overview](https://github.com/open-dynamic-robot-initiative/open-dynamic-robot-initiative.github.io/wiki)  

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## Authors
Felix Grimminger

## License
BSD 3-Clause License

## Copyright
Copyright (c) 2019-2020, Max Planck Gesellschaft and New York University