DIY 3D Printed Robotic Hand Controlled by Mobile | ESP32 + MG90 Servo Project | Full Build Guide

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🧠 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

1. ️ 5-Finger robotic hand with palm and thumb
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3. Mobile-controlled via Web UI (no app needed!)
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5. ⚙️ Smooth motion using MG90S servo motors
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7. Fully 3D printed design
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9. ESP32 + PCA9685-based control system
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11. Easy to assemble with common tools
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🖨️ Step 1: 3D Print the Robotic Hand Parts

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

1. 🖐️ Palm base
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3. 👉 4 Finger segments
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5. 👍 Thumb segment
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7. 🔩 Servo holders for each joint
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Recommended settings:

1. Material: PLA or PETG
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3. Layer Height: 0.2 mm
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5. Infill: 20%
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7. Supports: Enabled (for overhangs)

🔧 Step 2: Assemble the Mechanical Structure

1. Mount each MG90S servo into a servo holder using M3 screws.

1. Attach servo holders to the palm using bolts.

1. Fix the fingers onto the servo arms using screws.Repeat the process for all 4 fingers and finally the thumb.

🔌 Step 3: Wiring the Electronics

🧩 Connections:

Component

Connect To (ESP32)

PCA9685 VCC

3.3V / 5V

PCA9685 GND

GND

PCA9685 SDA

GPIO 21

PCA9685 SCL

GPIO 22

Servo Motors

Channels 0 to 4 on PCA9685

🧠 Step 4: Code & Web Interface

Upload the code using the Arduino IDE.

✅ Libraries Needed:

1. Wire.h
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3. Adafruit_PWMServoDriver.h
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5. WiFi.h
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7. ESPAsyncWebServer.h
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🔗 [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:

1. Try gripping objects like bottles, pens, or even small tools.
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3. Calibrate the servo angles in the code if any fingers don’t move correctly.
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5. Tune the motion for a smoother response.

🧼 Optional Improvements

1. Add feedback sensors for touch or pressure
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3. Use flex sensors on a glove for gesture control
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5. Add a Bluetooth interface for offline use
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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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🧾 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

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✅ And follow me for more awesome builds!