How to build ALARIS Hand
6-DoF dexterous robot hand · Intermediate
ALARIS is a 6-DoF anthropomorphic hand from Nazarbayev University: linkage fingers, worm-and-rack drives, SolidWorks CAD and a $478 prototype BOM.
Some soldering, calibration and Linux comfort needed.
Our estimate, part-time
≈$478 prototype estimate from the paper's parts table, excluding embedded electronics
GPL-3.0
What is ALARIS Hand?
The ALARIS Hand comes from Almas Shintemirov's ALARIS lab at Nazarbayev University in Kazakhstan, published at ICRA by Ayaulym Nurpeissova, Talgat Tursynbekov and Shintemirov. It's an anthropomorphic hand with four linkage-driven three-phalange fingers and a two-phalange adaptive thumb.
Its defining choice is the transmission. Each finger is moved by a worm gear acting on a rack, which can't be back-driven, so the hand holds a grasp without drawing power. Six small DC brushed gearmotors provide the six DoF.
This is a mechanical design release, not a turnkey kit: the repo holds SolidWorks parts and assemblies and some STLs, and you supply your own electronics and control code.
ALARIS Hand specifications
- DoF
- 6 (4 fingers + 2 thumb)
- Actuators
- 6 DC brushed gearmotors, 1:100
- Transmission
- Worm and rack, non-backdrivable
- CAD
- SolidWorks (SLDPRT/SLDASM)
- License
- GPL-3.0
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| DC brushed gearmotor (1:100) | 6 | |
| Position sensors | 6 | |
| Printed worm gears and racks | 5 each | |
| Printed palm, phalanges, links and finger bases | — | |
| Bearings (7), springs (9), ~55 screws, wiring | — |
Where's the full bill of materials?
The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat $478 as a ballpark from the project. Start at the project repository.
Tools you'll need
- SolidWorks (or a STEP converter)
- FDM printer, PLA
- Small hex and Phillips drivers
Step-by-step build overview
Electronics & wiring overview
Nothing is specified upstream. Plan for six brushed-motor drivers and six analog or digital position inputs on whichever controller you choose.
Software
The project ships its own firmware and control code. See the repository for setup.
No control software is published; the release is the mechanical design and the paper.
Tips from the bench
- ☕ Because the drive is non-backdrivable, add current limiting in firmware so a jammed finger can't strip its worm.
- ☕ Print worms and racks with fine layers for smoother mesh.
ALARIS Hand FAQ
Is the ALARIS Hand a complete kit?
No. It's an open mechanical design. Electronics and software are left to the builder.
Why worm gears?
A worm-and-rack drive can't be back-driven, so the fingers hold their position without motor power.
What does it cost?
The paper estimates about $478 in prototype parts, not counting the embedded electronics.
Sources
Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.
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