MSG compliant AI stepper gripper

For latest design files visit: 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.

📚Documentation:

• Official website
• Python API
• Building instructions *coming soon
• BOM
• DOCS

🌐 More about MSG gripper

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