TriFinger Edu v1
The TriFinger Edu is a 9-degree-of-freedom manipulation platform consisting of three identical finger modules mounted on an aluminum frame structure. The platform is designed for dexterous manipulation research and learning.Overview
Degrees of Freedom
9 DOF - 3 actuated joints per finger
Finger Modules
3 identical torque-controlled fingers
Weight
930g per finger module
Total Platform
8kg complete platform weight
Key Specifications
| Specification | Value |
|---|---|
| Degrees of Freedom | 9 DOF (3 per finger) |
| Finger Module Weight | 930g each |
| Number of Fingers | 3 |
| Total Platform Weight | 8kg (with frame and cameras) |
| Frame Material | T-slotted aluminum profiles (Item Size 8) |
| Workspace | Defined by barrier: 3mm polycarbonate sheets |
Mechanical Design
Finger Modules
Each finger module consists of three torque-controlled actuator joints:- Base Joint: Controls finger rotation around vertical axis
- Proximal Joint: Controls middle segment angle
- Distal Joint: Controls fingertip segment angle
Frame Structure
The frame uses Item aluminum profiles (Size 8, 40mm x 40mm): Aluminum Profile Segments:- Vertical supports: 3 profiles
- Horizontal base: 3 profiles
- Custom cut lengths per assembly drawing
- 3x 90-degree large angle brackets (Item 0.0.411.32)
- 9x end caps (Item 0.0.026.01)
- M5 T-slot nuts (Item 0.0.480.54)
- 3D printed center connector
Workspace Barrier
Polycarbonate Barrier:- Material: 3mm polycarbonate sheets
- Configuration: 3 sheets forming triangular workspace
- Purpose: Contains objects within manipulation area
- Custom cut to size per assembly drawing
Camera System
The platform includes integrated vision: Basler Cameras (3 cameras):- Model: acA720-520uc
- Lens: Basler C125-0418-5M
- Mount: Custom 3D printed camera arms
3D Printed Components
All parts should be printed in the positive Z direction of the STL files.Frame Center Connector
Joins the three vertical aluminum profiles at the center
Camera Mounts
3 camera mounts for Basler cameras
Assembly
Frame Assembly
Tools Required:- 6mm hex driver
- 6mm allen key
- Cut aluminum profiles to specified lengths
- Install center connector on vertical profiles
- Attach angle brackets to horizontal base profiles
- Mount finger modules to frame
- Install barrier sheets
- Mount cameras on arms
Finger Module Attachment
The three finger modules are mounted at 120-degree intervals around the central workspace, creating a symmetric manipulation platform.Applications
Dexterous Manipulation
Dexterous Manipulation
The TriFinger platform excels at in-hand manipulation tasks, including object reorientation, precise placement, and dynamic manipulation behaviors.
Object Learning
Object Learning
With integrated cameras, the platform is ideal for learning-based manipulation research, including visual servoing and object recognition.
Multi-Finger Coordination
Multi-Finger Coordination
The three-finger configuration enables research into coordinated multi-appendage control and contact-rich manipulation.
Real Robot Challenge
Real Robot Challenge
The TriFinger platform was used in the Real Robot Challenge, a global competition for robotic manipulation using real hardware and simulation.
Transport and Storage
Compact Storage:- Finger modules can be stacked for transport
- Complete platform fits in 1650 Pelican case
- Total transport weight: 21kg (with case)
- Modular design allows easy disassembly
- Aluminum frame can be reconfigured
- Suitable for lab-to-lab transport
Alternative Configurations
Upside Down Operation
The manipulation platform can be mounted upside down:- Inverts workspace orientation
- Changes gravity interaction with objects
- Enables different manipulation strategies
- Same mounting interface
Bill of Materials
| Component | Quantity | Notes |
|---|---|---|
| Finger Edu Modules | 3 | Custom assembly |
| Aluminum Profiles (40x40mm) | Various | Item Size 8, custom lengths |
| 90° Angle Brackets | 3 | Item 0.0.411.32 |
| End Caps Size 8 | 9 | Item 0.0.026.01 |
| T-Slot Nuts M5 | Multiple | Item 0.0.480.54 |
| Frame Center Connector | 1 | 3D printed |
| Camera Mounts | 3 | 3D printed |
| Basler Cameras (acA720-520uc) | 3 | With C125-0418-5M lenses |
| Polycarbonate Sheets (3mm) | 3 | Custom cut to size |
| Fasteners | Various | Per assembly requirements |
Electronics Integration
Each finger module includes:- Brushless motor drivers
- Encoder interfaces
- Power distribution
- 24V power supply
- Ethernet communication to control PC
- Camera interfaces (USB or Ethernet)
Workspace Dimensions
The triangular workspace is defined by:- Center-to-finger distance (radius)
- Barrier height
- Finger reach and range of motion
Related Resources
Finger Edu Module
Complete finger module build instructions
Actuator Modules
Core actuator module documentation
Electronics
Electronics and motor driver details
CAD Model
Interactive 3D CAD viewer
The TriFinger Edu platform shares core components with the quadruped and biped robots, including the same actuator modules and electronics. This modular design approach reduces costs and simplifies maintenance.