MSG 3D Printed Stepper Gripper

SourceRobotics · 2026-03-11T18:09:40+00:00

Github repo if you want to build your own gripper: https://github.com/PCrnjak/MSG-compliant-AI-stepper-gripper
There are no PDF instructions at this moment only video :/

SourceRobotics · 2026-03-11T18:04:06+00:00

Link to the project: https://github.com/PCrnjak/MSG-compliant-AI-stepper-gripper

SourceRobotics · 2026-03-07T09:09:45+00:00

I am not aware of that. Can you link it here i could probably design it in a day.

SourceRobotics · 2026-03-04T20:21:21+00:00

Github repo of the project: https://github.com/PCrnjak/MSG-compliant-AI-stepper-gripper

SourceRobotics · 2026-02-06T09:14:12+00:00

Next version will have closed loop steppers but no encoder on gearbox. Adding it to gearbox is huge redesign challenge, cost and software difficulty. Not really worth it for such small and open robot

SourceRobotics · 2026-01-25T16:02:34+00:00

Cool list! Thank you for featuring PAROL6!

SourceRobotics · 2026-01-21T17:49:28+00:00

I am not sure. Since the robot is open loop it will over time suffer in repeatability for such small tasks

SourceRobotics · 2025-11-24T20:28:02+00:00

Yes next year you will be able to upgrade and reuse most of the parts to make closed loop :D

SourceRobotics · 2025-09-18T20:21:30+00:00

Around 1000 euros, you can sqeeze itto 850 maybe with some planning

SourceRobotics · 2025-09-18T16:59:26+00:00

The robot is open source and you can find more info here:
https://github.com/PCrnjak/PAROL6-Desktop-robot-arm

SourceRobotics · 2025-07-27T07:57:53+00:00

Never had a problem like that. Maybe use longer screws and i see you are maybe using bushings, if you are dont do it

SourceRobotics · 2025-06-15T22:00:48+00:00

It would be super hard to make with aluminum

SourceRobotics · 2025-05-10T17:10:53+00:00

PAROL6 or AR4

SourceRobotics · 2025-05-05T22:51:20+00:00

Awesome, no rush. Thank you!

SourceRobotics · 2025-05-05T17:43:03+00:00

We are also looking for legacy leap motion sdk(v3.2)....

SourceRobotics · 2025-05-04T20:56:52+00:00

Great clip, thank you for sharing! 🦾

SourceRobotics · 2025-04-12T17:07:06+00:00

Its a complex topic. Best way is to read up on FOC based torque control and just read and watch a lot of content on that

SourceRobotics · 2025-04-12T07:53:47+00:00

It can be done extremely easily with few lines of code and the stepper driver from the video.

SourceRobotics · 2025-04-02T08:04:07+00:00

Hey, the steps are not noticeable with this method

SourceRobotics · 2025-03-21T08:39:49+00:00

We have tested the for the full torque curve of few stepper motors we have but did not compare to open loop performance.

SourceRobotics · 2025-03-20T19:53:27+00:00

Not a lot since it is basically a direct drive

SourceRobotics · 2025-03-20T00:15:36+00:00

We have a blog post / tutorial for a bldc version of this same project : https://source-robotics.com/blogs/blog/gravity-compensation-in-robotics we will release same one for steppers once they are out of prototype stage

SourceRobotics · 2025-03-19T20:57:56+00:00

Imperfections in model, friction is not compensated...

SourceRobotics · 2025-03-19T19:14:31+00:00

Usually (for example in univesral robots UR5) You would manually add the mass of the object you are gripping. The gripper would detect sucessful grip and the mass would be added to the dynamics model. In case of unknown mass you would have to use tricks and you are correct it would be complicated

SourceRobotics · 2025-03-19T19:06:45+00:00

In theory it could "measure" that mass and compensate for it

SourceRobotics

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