Watch the full Video here - DIY 3D Printed Robotic Hand Controlled by Mobile | ESP32 + MG90 Servo Project | Full Build Guide
๐ง IntroductionIn this project, Iโll walk you through how to make a fully functional 3D Printed Robotic Hand that you can control using your mobile phone. This hand uses MG90S servo motors, an ESP32 development board, and a PCA9685 servo driver to smoothly control each finger.
Whether you're an electronics hobbyist, a robotics student, or a maker looking for your next DIY challenge, this tutorial will help you build your very own robotic hand from scratch โ complete with 3D printed parts and a wireless control interface.
๐ฏ Features๐๏ธ 5-Finger robotic hand with palm and thumb๐ฑ Mobile-controlled via Web UI (no app needed!)โ๏ธ Smooth motion using MG90S servo motors๐งฉ Fully 3D printed design๐ ESP32 + PCA9685-based control system
๐ Optional: You can get high-quality screws, nuts, and mechanical parts from JLCMC with fast delivery and amazing prices!
๐จ๏ธ Step 1: 3D Print the Robotic Hand PartsYouโll need to 3D print the following components:
๐๏ธ Palm base๐ 4 Finger segment
๐ Thumb segment
๐ฉ Servo holders for each joint
Recommended settings:
Material: PLA or PETG
Layer Height: 0.2 mm
Infill: 20%Supports: Enabled (for overhangs))
Once printed, clean up any rough edges using a file or sandpaper.
๐ง Step 2: Assemble the Mechanical StructureMount each MG90S servo into a servo holder using M3 screws.
- Mount each MG90S servo into a servo holder using M3 screws.
Attach servo holders to the palm using bolts.
- Attach servo holders to the palm using bolts.
Fix the fingers onto the servo arms using screws.
- Fix the fingers onto the servo arms using screws.
Repeat the process for all 4 fingers and finally the thumb.
- Repeat the process for all 4 fingers and finally the thumb.
Make sure all mechanical joints move freely and are properly aligned.
- Make sure all mechanical joints move freely and are properly aligned.
๐ก Use MG90S instead of SG90 for better stability โ SG90s can jitter and affect grip.
๐ Step 3: Wiring the ElectronicsMake sure you power the servos externally with 5V 2A โ do not run them from the ESP32's onboard 3.3V/5V.
๐ง Step 4: Code & Web InterfaceUpload the code using the Arduino IDE.
โ Libraries Needed:Wire.hAdafruit_PWMServoDriver.hWiFi.hESPAsyncWebServer.h
๐ [Get the full source code DM me]
After uploading, your ESP32 will host a simple web server interface with buttons to control each finger.
๐ฑ Open the IP address on your mobile browser (shown in Serial Monitor), and start controlling the robotic hand in real-time!
Now that everything is set up:
Try gripping objects like bottles, pens, or even small tools.
Calibrate the servo angles in the code if any fingers donโt move correctly.Tune the motion for a smoother response.
๐งผ Optional Improvements- Add feedback sensors for touch or pressure
- Use flex sensors on a glove for gesture control
- Add a Bluetooth interface for offline use
- Print in different colors for a custom aesthetic
This project was proudly sponsored by JLCMC. They provide high-quality mechanical parts like aluminum enclosures, gearboxes, shafts, and more โ starting at just $0.5!
Why JLCMC?โ Superfast global shipping โ Custom part selection โ High precision โ $70 welcome coupon with my link
๐ [Sign up now and claim your $70 coupon โhttps://jlcmc.com/?from=elec]
Building a 3D Printed Robotic Hand is not just a fun project โ itโs a great learning experience for those interested in robotics, servo control, and ESP32-based IoT systems.
You now have a functional robotic hand you can control from your phone! If you liked this project, don't forget to:
โ Like โ Share โ Comment โ And follow me for more awesome build
Watch the full Video here - DIY 3D Printed Robotic Hand Controlled by Mobile | ESP32 + MG90 Servo Project | Full Build











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