Finger mechanism for a Trumpet-Playing Robot. Includes 3 fingers that fit on the trumpet's body and can press each of the trumpet keys.

See the mechanism in action: https://youtu.be/qQjnSnuDjrw

Read how I designed it using OpenSCAD in the blog post: https://medium.com/@urish/designing-3d-printable-mechanisms-in-openscad-5838dcb65b39

Source code for models: https://github.com/urish/trumpet-robot/tree/master/hardware

What to print?

You will need to print the following parts:

• 3 × fingertip
• 3 × servo-gear
• 3 × servo-trumpet-attachment
• 2 × servo-mount
• 1 × servo-mount-middle
• 1 × rack-right
• 1 × rack-left
• 1 × rack-middle

Or you can simply print everything at once using build-plate.stl.

Required Hardware

• A trumpet
• 3 Micro servos (I used TowerPro MG90S)
• 6 M3x10 screws for mounting the servos
• 6 M3x30 screws for mounting the mechanism to the trumpet
• 3 M3x16 screws and 3 M3 nuts for attaching the fingertips to the fingers