Here, the finger prototype is demonstrated using closed loop control with poteneometers controlling the setpoint for each joint. The PID values are far from ideal and so that causes some oscilation and poistion error within the model.

Here, the Closed loop control of the finger joint is tested using a PID loop running on the control Teensy 3.2. The same technique for feedback is used as before, by using a potentiometer mounted on the axis the angle is measured.

The nest key step for the Bevel design is to efficently control a stage using this method. The prototype shown previously is a single stage, the axis along the top doesn't acutally curently move, this is because, due to the short turn around of this design. Instead of using proper bearings, the dimentions of the bearings were printed, this lead to high friction which broke the prototype shaft. The bearings are on order and so they can hopfully be integrated into the design tomorrow.

Also, the top axis is currently quite loose, this should be improved with both the bearings and the addition of the control potentiometer which will screw onto one side, just as with the previous design. The other side of the axis will likely be screwed to the axis just as with the hinge design previously.

The hinge design is still very similar to what has been displayed previously.

 There is also a concern about providing suitable torque to the joint. As the motors are quite small, with a low power rating (0.46W) the maximum torque is limited. The gearing within the motor does massivly increase this, but of course, as the gearing increases the speed reduces equally. However as the bevel gear is 1:1 the rotation speed of the joint is equal to the motor RPM, this allows for the use of the highest ratio motor within this series and still allow for a responsive joint.

by Implementing Bevel gears into the hinge, the motor drive is connected directly to the axis, vastly simplifiying control as each joint is independent of the next.

The Main concern of this design is getting sufficent torque from the motor to allow the actuator to press with enough force to both demonstrate the degrees of freedom but also interact with other objects.