HardLabs

BananaHand

bananaHand-project·bananaHand·hardware/electrical/bh_main_board/bh_main_board.kicad_pcb

BananaHand PCB layout, top view — open source STM32 board by bananaHand-project
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About the BananaHand PCB

BananaHand is an open source STM32 PCB design by bananaHand-project, published on GitHub. It is a 4-layer board measuring 100 × 86 mm, with 126 components from 39 distinct parts.

Its main chip is the STM32G474RETX, from the STM32 family. Other key parts include the STM32C071K8TX, SN65HVD230DR, SN65HVD1781 and DRV8876GTR. By type, the board carries 48 capacitors, 40 resistors, 15 connectors, 12 ICs, 7 diodes and 2 fuses.

It belongs with the robotics & motion designs in this gallery.

From the project

Building an open-source humanoid robot end effector.

The electrical system for bananaHand is built around the main board. The main board is responsible for the following functions: communication with the controlling device, motor control, and FSR sensing. A simplified block diagram describing the main board can be seen below. It requires a single +12V 24W input source and exposes UART, CAN bus, and half-duplex RS485 options for interfacing. Depending on the device you are trying to interface with, a buck converter may be needed to drop your source voltage down to the required 12V.

BananaHand, from the project README
From the project README

Main components on the BananaHand

STM32G474RETXSTM32C071K8TXSN65HVD230DRSN65HVD1781DRV8876GTR

BananaHand bill of materials (BOM)

126 components, 39 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
STM32G474RETX
STM32G474RETx
U2
1
STM32C071K8TX
STM32C071K8Tx
U3
1
SN65HVD230DR
U4
1
SN65HVD1781
U5
8
DRV8876GTR
U6, U7, U8, U11, U12, U14, U15, U16
1
CONN_01X02_PIN
Conn_01x02_Pin
J1
2
CONN_02X05_TOP_BOTTOM
Conn_02x05_Top_Bottom
J2, J3
1
CONN_01X02_PAD
Conn_01x02_Pad
J4
2
CONN_01X04_PIN
Conn_01x04_Pin
J5, J6
1
CONN_01X10
Conn_01x10
J7
1
CONN_02X04_TOP_BOTTOM
Conn_02x04_Top_Bottom
J8
5
HLW5S-2C7LF
J9, J10, J11, J12, J13
1
HLW5R-2C7LF
J18
1
CONN_02X05_ODD_EVEN
Conn_02x05_Odd_Even
J20
1
1A8 33V
F1
1
750mA 36V
F2
2
SW_Push
SW1, SW2
5
LED
D1, D2, D3, D4, D5
1
ESDCAN03-2BWY
D6
1
SM712_SOT23
D7
Show 19 more
QtyPartRefs
26
100NF
100nF
C1, C2, C3, C6, C7, C8, C9, C12 +18
2
4UF7
4uF7
C4, C11
1
10NF
10nF
C5
1
1UF
1uF
C10
1
4NF7
4nF7
C13
6
47UF
47uF
C17, C21, C25, C37, C41, C57
8
22NF
22nF
C19, C23, C27, C39, C43, C51, C55, C59
1
100nF
C28
1
1uF
C29
1
100UF
100uF
C49
1
100K
100k
R1
4
100
R2, R4, R5, R11
1
1200
R3
12
10K
10k
R6, R7, R8, R9, R10, R12, R13, R14 +4
2
60
R17, R18
2
10
R20, R23
8
0
R24, R27, R30, R39, R42, R48, R51, R54
8
11K
11k
R26, R29, R32, R41, R44, R50, R53, R56
2
3300
R33, R34

BananaHand design files

The KiCad project lives in the bananaHand-project/bananaHand repository on GitHub; these links point at the commit this page was built from.

BananaHand: common questions

What microcontroller does the BananaHand use?

The BananaHand is built around the STM32G474RETX, from the STM32 family.

How big is the BananaHand PCB?

The BananaHand measures 100 × 86 mm, has 4 copper layers and is 1.64716 mm thick.

How many components are on the BananaHand?

126 components, from 39 distinct parts, with part numbers taken from the project's own BOM. The full bill of materials is listed on this page.

Where can I download the BananaHand design files?

From the bananaHand-project/bananaHand repository on GitHub, which has the KiCad layout, the schematic and the BOM; the links under Design files point to each one.

Can I use the BananaHand design in my own project?

The repository has no license, so all rights stay with bananaHand-project. Use it as a reference, and ask the author before reusing the design.

Can I test firmware for the BananaHand without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug STM32 firmware against it before you order a PCB.

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