DIY 3D Printed Robotic Hand Controlled by Mobile

Watch the full Video here - DIY 3D Printed Robotic Hand Controlled by Mobile | ESP32 + MG90 Servo Project | Full Build Guide

🧠 Introduction

In this project, I’ll 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 — complete with 3D printed parts and a wireless control interface.

🎯 Features🖐️ 5-Finger robotic hand with palm and thumb📱 Mobile-controlled via Web UI (no app needed!)⚙️ Smooth motion using MG90S servo motors🧩 Fully 3D printed design🔌 ESP32 + PCA9685-based control system

🛒 Optional: You can get high-quality screws, nuts, and mechanical parts from JLCMC with fast delivery and amazing prices!

🖨️ Step 1: 3D Print the Robotic Hand Parts

You’ll need to 3D print the following components:

🖐️ Palm base👉 4 Finger segment

👍 Thumb segment

🔩 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.

🔧 Step 2: Assemble the Mechanical Structure

Mount 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.

💡 Use MG90S instead of SG90 for better stability — SG90s can jitter and affect grip.

🔌 Step 3: Wiring the Electronics

Make sure you power the servos externally with 5V 2A — do not run them from the ESP32's onboard 3.3V/5V.

🧠 Step 4: Code & Web Interface

Upload the code using the Arduino IDE.

✅ Libraries Needed:

Wire.hAdafruit_PWMServoDriver.hWiFi.hESPAsyncWebServer.h

🔗 [Get the full source code DM me]

After uploading, your ESP32 will host a simple web server interface with buttons to control each finger.

📱 Open the IP address on your mobile browser (shown in Serial Monitor), and start controlling the robotic hand in real-time!

🧪 Step 5: Test the Robotic Hand

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 don’t move correctly.Tune the motion for a smoother response.

🧼 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

🤝 Sponsor: JLCMC – Mechatronics Made Easy!

This project was proudly sponsored by JLCMC. They provide high-quality mechanical parts like aluminum enclosures, gearboxes, shafts, and more — starting at just $0.5!

Why JLCMC?

✅ Superfast global shipping ✅ Custom part selection ✅ High precision ✅ $70 welcome coupon with my link

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📸 Gallery

🧾 Conclusion

Building a 3D Printed Robotic Hand is not just a fun project — it’s 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:

✅ Like ✅ Share ✅ Comment ✅ 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