Petar Crnjak
For latest models check: https://github.com/PCrnjak/MSG-compliant-AI-stepper-gripper 📖 Project Overview
MSG compliant AI stepper gripper is a gripper based on StepFOC stepper drivers. It is a gripper capable of controlling its gripping force (We use FOC control on steppers), making it perfect for assembly tasks and human-robot collaboration AND AI training application because of its designed with cameras in mind! This gripper is modular in nature in 2 ways:
- Adjust grip length with different linear rails with options of 100mm,150mm and 200mm.
- Adjust grip strength with different stepper sizes, supporting steppers of lenght 21.5mm, 40mm and 60mm
Grip force can be adjusted allowing you to grasp a wide range of items; from delicate and soft to rigid and sturdy.
Mechanical files and firmware are open source allowing you to add a custom griping tool and attach it to any robotic arm or robot. Gripper software is also open-source.
⚒️How to build
If you want to Source all the parts yourself and build your own follow these steps:
Print files from STEP files folder
- Example: For 100 mm rail style gripper
- print everything from "common parts" folder
- everything from "Linear rail dependant parts" folder -> "100mm rail" folder
- everything from "Stepper dependant parts" folder depending on what stepper size you are using
- Source all the parts from the BOM
- Follow Assembly instructions *coming soon or Video instructions to assemble your gripper
- Follow DOCS to get your gripper up and running.