Robotic Hands & Clamp Attachments

🟦 Parallel Servo Grippers (Simple Claws)

Maps to: /grippers_parallel/

WHY (what problem this solves)

You want the cheapest, fastest ‘grabber’ possible so you can test your robot arm, learn basics, and pick up light objects.

COST (realistic DIY range)

DIY cost: $10–$25 basic, $25–$60 solid, $60–$120 strong mini.

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Parallel Servo Grippers (Simple Claws)

DIY printed claw (animated reference)

SEE: This shows the classic ‘robot claw’ motion: open → close. Great for understanding the simplest possible end-effector.

Tier-0 budget buildlight objectslearning

File: 0J9232.400.gif

Rack-and-pinion gripper cutaway (servo-driven)

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Parallel Servo Grippers (Simple Claws)

Rack-and-pinion gripper cutaway (servo-driven)

SEE: This shows the inside idea: a servo drives gears that slide the jaws in/out. Easy to print and repair.

repeatable open/closeprototype clamp

File: gripper_3-1024x805.png

HOW (explained simply)

One motor opens and closes two jaws.
Usually 3D-printed plastic parts + a small servo (SG90/MG90S) or a stronger servo.
Simple control: send a single ‘open’ or ‘close’ command.

DECIDE (when to pick it)

Pick this if your priority is price + speed. Skip it if you need human-like motion or strong lifting.

DIY Specs (click to expand)

What you print
Claw fingers (2), hinge brackets, servo mount, optional rubber pad slots.

What you buy
Servo, screws/pins, controller (servo tester or Arduino/ESP32), power source.

What you wire
Servo to controller + power (keep 5–6V stable).

What you program
One-button open/close or simple knob mapping.

What you replace later
Servo (if gears strip), hinge points, finger tips/pads.

Individual Parts & Prices

Part	What it does	LOW ($)	MID ($$ ⭐)	HIGH ($$$)
Servo motor	Opens/closes the claw	SG90 plastic gear: $3–5	Metal gear servo: $10–20	High-torque servo: $30–50
Claw fingers	The grabbing jaws	PLA print: $2–5	PETG print: $5–10	Nylon print: $10–20
Hinges / pins	Let fingers rotate	Screws: $1–3	Shoulder bolts: $3–5	Hardened pins: $5–10
Controller	Tells servo to move	Servo tester: $3–5	Arduino Nano: $6–10	ESP32: $10–15
Power	Feeds the motor	USB / AA: $2–5	5–6V BEC: $5–8	Regulated PSU: $10–15

Typical total: LOW: $15–40 • MID: $40–80 • HIGH: $80–150

🟦 Industrial Parallel Grippers (Strong Clamps)

Maps to: /grippers_industrial/

WHY (what problem this solves)

You want reliable strength and repeatability (like factory robots). These grab hard and don’t need ‘finger skill’.

COST (realistic DIY range)

DIY cost: $60–$150 functional, $150–$300 reliable, $300–$600 polished.

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Industrial Parallel Grippers (Strong Clamps)

OnRobot-style gripper (reference)

SEE: This is the ‘pro clamp’ look. Strong, clean, repeatable. Not a hand — it’s a tool.

tool holdingstrong grippingindustrial vibe

File: Onrobot-2FG14_850x.webp

Typical cost: ~$4,981–$6,734 (EU band) or ~$5,792 (example reseller). Bundles vary.

Buy routes: OnRobot direct, authorized distributors, integrators/resellers.

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Industrial Parallel Grippers (Strong Clamps)

Metal industrial gripper (reference)

SEE: This shows rugged hardware with real mechanical strength. DIY versions copy the function using rails + a screw drive.

durabilityheavier objects

File: Greifer_AG-145.jpg

Typical cost: ~$3,200–$4,600+ depending on model/bundle/supplier.

Buy routes: DH‑Robotics distributors, robotics stores (RobotShop etc.), integrators.

HOW (explained simply)

Two jaws move in parallel on rails/linear guides.
Driven by a motor + lead screw, belt, or internal gearbox.
Often includes force limits so it doesn’t crush everything.

DECIDE (when to pick it)

Pick this when you need strength and repeatability. Skip if you want human-like gestures or delicate manipulation.

DIY Specs (click to expand)

What you print
Jaw bodies, housings, covers, cable strain relief.

What you buy
Motor + driver, lead screw, rails/bearings, fasteners.

What you wire
Motor driver to controller + power, add end-stops if possible.

What you program
Open/close distance presets, soft-start/stop.

What you replace later
Lead screw nut, bearings, jaw pads.

Individual Parts & Prices

Part	What it does	LOW ($)	MID ($$ ⭐)	HIGH ($$$)
Motor	Drives jaw motion	DC gear motor: $10–25	NEMA 17 stepper: $20–40	Closed-loop stepper: $60–120
Lead screw	Converts spin to slide	Threaded rod: $5–10	Trapezoidal screw: $15–30	Ball screw: $60–120
Linear rails	Keep jaws straight	Printed rails: $5–10	MGN12 rails: $25–40	Precision rails: $60–120
Jaws	Grab object	PLA jaws: $5–10	PETG jaws: $10–20	Aluminum jaws: $40–80
Driver	Controls motor	L298N: $5–10	TMC driver: $10–20	Industrial driver: $40–80
Controller	Brain	Arduino: $8–15	ESP32: $10–15	PLC / MCU: $40–80

Typical total: LOW: $80–150 • MID: $150–300 • HIGH: $300–600

🟨 Research / Academic Multi-Finger Hands

Maps to: /hands_bionic_research/

WHY (what problem this solves)

You want ‘hand-like’ ability without paying prosthetic prices. Research hands teach tendon mechanics and grasp types.

COST (realistic DIY range)

DIY cost: $150–$350 underactuated, $350–$700 multi-motor, $700–$1,200 near-independent.

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Research / Academic Multi-Finger Hands

Research hand concept diagram

SEE: This shows the typical structure: fingers + palm + control module. It’s a blueprint for how robotic hands are organized.

dexterity learninggrasp studies

File: 41467_2021_27261_Fig1_HTML.png

Robot-mounted multi-finger hand (reference)

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Research / Academic Multi-Finger Hands

Robot-mounted multi-finger hand (reference)

SEE: This shows what it looks like when a multi-finger hand is mounted on a robot arm: more human-like grasps, more complexity.

natural graspsdemo wow-factor

File: OIP.jpeg

HOW (explained simply)

Motors pull tendons (like bicycle brake cables) to bend fingers.
Some fingers are linked together (underactuated) to reduce cost.
Sensors may be added at fingertips for touch/force feedback.

DECIDE (when to pick it)

Pick this if you want dexterity experiments and learning. Skip if you want a polished ‘commercial bionic’ look instantly.

DIY Specs (click to expand)

What you print
Finger segments, knuckles/joints, palm shell, tendon guides.

What you buy
Motors/servos, tendon line, springs, fasteners, small bearings (optional).

What you wire
Motors to controller/drivers, common ground, stable power rail.

What you program
Preset grasps or simple per-finger positions; calibrate home positions.

What you replace later
Tendons (wear), fingertip shells, joint pins.

Individual Parts & Prices

Part	What it does	LOW ($)	MID ($$ ⭐)	HIGH ($$$)
Finger motors	Pull tendons	Micro servos: $5–10 ea	DC micro motors: $15–25 ea	Compact DC motors: $40–60 ea
Tendons	Act like muscles	Fishing line: $3–5	Nylon/Kevlar: $10–20	Coated cable: $30–50
Finger bones	Finger structure	PLA prints: $10–20	PETG/TPU: $20–40	Nylon/CF: $50–100
Springs/elastics	Open fingers back	Rubber bands: $2–5	Torsion springs: $10–15	Custom springs: $20–40
Palm housing	Holds everything	PLA shell: $10–20	Reinforced print: $30–50	CNC / CF: $80–150
Controller	Motion control	Arduino: $10–15	ESP32: $10–15	MCU + drivers: $40–80

Typical total: LOW: $150–300 • MID: $300–700 • HIGH: $700–1,200

🟥 Commercial Bionic / Prosthetic Hands (PSYONIC-class benchmark)

Maps to: /hands_bionic_commercial/

WHY (what problem this solves)

If you have unlimited budget: Buy a PSYONIC-class bionic hand. It’s the benchmark and looks insane.

You want the best off-the-shelf bionic hand performance and look. This is the benchmark category.

COST (realistic DIY range)

Typical price class: $15,000–$50,000+ (medical-grade category).

PSYONIC-style bionic prosthetic hand (reference image you provided)

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Commercial Bionic / Prosthetic Hands (PSYONIC-class benchmark)

PSYONIC-style bionic prosthetic hand (reference image you provided)

SEE: This is the gold-standard vibe: compact, refined, multi-finger, bionic shell. It’s what we compare DIY builds against.

benchmark bionic handHacksmith-level demos

File: DSC05422.webp

Bionic hand close-up / articulation (reference image you provided)

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Commercial Bionic / Prosthetic Hands (PSYONIC-class benchmark)

Bionic hand close-up / articulation (reference image you provided)

SEE: This highlights the ‘real bionic’ design language: sleek shell + purposeful finger motion. Great for design inspiration.

visual benchmarkdesign inspiration

File: qpJXlJnHqtf2esojEQYsiXKiNK7vew525V8o1j4X.webp

Typical cost: commonly cited ~$15,000–$20,000 for Ability Hand; advanced prosthetics can be $30k+.

Buy routes: prosthetics clinics/providers (medical), or direct PSYONIC inquiry for robotics/research.

HOW (explained simply)

Compact packaging: motors + gearing + structure all integrated tightly.
Designed for real-world daily use, safety, and reliability.
Often includes advanced grasp modes and strong mechanical durability.

DECIDE (when to pick it)

Pick PSYONIC-class if budget is unlimited and you want the best immediately. Otherwise, treat this as the benchmark and copy the outcomes with DIY.

DIY Specs (click to expand)

What you print
Not applicable.

What you buy
PSYONIC Ability Hand + Indro Robotics arm (or similar premium research arm).

What you wire
Vendor integration harnesses + safety-rated power.

What you program
Vendor SDK / ROS integration as provided.

What you replace later
Service via manufacturer.

Individual Parts & Prices

Part	What it does	LOW ($)	MID ($$ ⭐)	HIGH ($$$)
PSYONIC Ability Hand	Medical-grade bionic hand (benchmark)	—	$15,000 – $50,000+	—
Indro Robotics Research Arm	Research-grade arm to mount the hand	—	$25,000 – $45,000	—
Total System	Hand + arm typical total	—	$40,000 – $90,000+	—

Typical total: Not DIY (sealed / proprietary / medically certified).

🟩 DIY Bionic Path (Hacksmith-style outcome, cheaper)

Maps to: /hands_diy_concepts/

WHY (what problem this solves)

You want the same on-camera ‘wow’ and most of the useful grasps, without medical-grade costs.

COST (realistic DIY range)

DIY cost: $500–$900 functional, $900–$1,500 polished, $1,500–$3,000 serious engineering.

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DIY Bionic Path (Hacksmith-style outcome, cheaper)

Arm geometry / scale reference

SEE: Use this kind of diagram so your printed hand and wrist mount are the right size and your motors/wires fit without chaos.

measuringmount planningscale matching

File: OpenManipulator_Chain_spec_side.png

Typical cost: ~$1,629 (ROBOTIS US) to ~$2,327 (example reseller), region-dependent.

Buy routes: ROBOTIS official store, robotics resellers.

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INNOVATIVE / ABSTRACT DIY INSPIRATION

Continuum tentacle arm concept

SEE: A tendon-driven continuum manipulator for “snake-like” reach + obstacle-friendly motion. This is an inspiration anchor for a DIY build path (not factory repeatability).

continuumtendon driveobstacle-friendly

LuciferAI Autonomous Robot & Tentacle Arm (PDF)

Continuum vs Rigid — motion class analysis (PDF)

File: tentacle_arm_concept.png

What to mount the hand onto (cobot-class arm)

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DIY Bionic Path (Hacksmith-style outcome, cheaper)

What to mount the hand onto (cobot-class arm)

SEE: This is the “real arm” side of the setup: a 6‑DOF collaborative / research robot arm that your DIY hand (or gripper) bolts onto. It’s the missing half if you want the Hacksmith-style demos — the hand is only the end-effector.

pairingmountingwrist interfacerepeatability

File: indro_robot_arm_reference.jpg

Typical costs: used/research arms often $8k–$35k; new force‑sensing arms commonly $20k–$60k+ (varies by brand, payload, and sensors).

Buy routes: (1) manufacturer direct / integrators, (2) robotics distributors, (3) used lab surplus & refurb sellers, (4) local automation integrators that rotate demo units.

HOW (explained simply)

Preset grasps (the big shortcut): Power Grip, Pinch, Point, Tripod, Open-Hand, Tool-Hold — the few shapes that cover most real tasks.
Mimic glove/controller selects a grasp (intent), instead of trying to mirror every muscle in real time (complex and expensive).
Modular build: tendons, finger links, shells, and even motor modules are replaceable so you can iterate, repair, and upgrade.
Result focus: what observers notice is the outcome (clean, confident grasps), not perfect biological biomechanics.

DECIDE (when to pick it)

Pick this when you want Hacksmith-level demo results and real utility without prosthetic pricing: it’s cheap enough to iterate, strong enough to impress, and flexible enough to swap end-effectors later (hands, clamps, tools). It’s the sweet spot between toy grippers and sealed medical devices.

DIY Specs (click to expand)

What you print
Finger segments, palm shell, tendon channels, motor block, wrist mount/adapter plate.

What you buy
Motors, tendon line, springs/elastic return, controller + drivers, fasteners, mimic glove/controller.

What you wire
Drivers to controller + power, cable management, strain relief at wrist.

What you program
Preset grasps (Power/Pinch/Point/Tripod/Open/Tool-Hold), plus calibration routine.

What you replace later
Tendons (cheap & expected), fingertips/shells, motor spools.

Individual Parts & Prices

Part	What it does	LOW ($)	MID ($$ ⭐)	HIGH ($$$)
Finger motors	Pull tendons	5–6 micro motors: $40–80	6–8 DC gear motors: $120–200	Premium DC motors: $300–600
Tendons	Finger “muscles”	Fishing line: $5–10	Kevlar / nylon: $15–30	Coated steel cable: $40–80
Finger structure	Finger bones	PLA: $30–60	PETG / TPU: $60–120	Nylon / CF nylon: $150–300
Palm motor block	Holds motors	Printed block: $20–40	Reinforced print: $60–100	CNC / CF: $150–300
Controller	Runs grasps	Arduino: $10–15	ESP32: $10–15	MCU + drivers: $40–80
Input device	Selects grasps	Buttons: $5–10	Mimic glove: $40–100	Glove + sensors: $150–300
Wiring & hardware	Connects everything	$15–30	$30–50	$50–100

Typical total: LOW: $500–900 • MID (⭐ best): $900–1,500 • HIGH: $1,500–3,000

🧰 DIY Build Flow (after the categories)

This is the practical “how to build it” path: print → assemble → wire → program → swap attachments.

Tier-0 (fast demo)

Start with a simple servo claw to validate your controller + mounting. You learn wiring, power stability, and basic motion without complexity.

Tier-1 (useful clamp)

Upgrade to an industrial parallel gripper when you need strength, repeatability, and “tool handling” instead of gestures.

Tier-2 (Hacksmith path)

Build the DIY bionic hand using preset grasps + a mimic glove/controller. You optimize for on-camera outcomes and swappable end-effectors.

Attachment swapping (idiot-proof)

Mechanical interface
Use a wrist mounting plate (printed or aluminum) with a consistent bolt pattern. Keep the “wrist flange” identical across tools.

Quick-change
Add a clamp collar or captive thumbscrews so you can remove the hand/clamp in under 60 seconds without re-aligning everything.

Electronics pass-through
Use one connector at the wrist (XT30/XT60 for power + JST for signals). Label everything; avoid loose wires.

Software presets
Treat each attachment as a profile (hand / clamp / tool). Selecting the profile loads safe ranges + motion limits.

Safety
Always add a “stop” function and current limits. If anything binds, the system should stop—not burn motors.

✅ Final takeaway (one decision rule)

Two outcomes: benchmark perfection vs Hacksmith-level results for 5–10% cost.

If you have unlimited budget

Buy a PSYONIC-class bionic hand paired with a premium research arm (e.g., Indro Robotics).
PSYONIC Ability Hand: $15,000 – $50,000+ • Indro Robotics Research Arm: $25,000 – $45,000 • Typical total: $40,000 – $90,000+.
This is the benchmark: medically engineered, force-sensitive, and it looks absolutely insane — the gold standard.

If you want Hacksmith results for cheap

Build DIY bionic using preset grasps + a mimic glove/controller.
You get the same on-camera outcomes, full repairability, and attachment swapping — at roughly 5–10% of the cost.