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 / Where to buy?

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.


Gripper

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