Gripper

This page introduces the gripper, one core device of MagiClaw. It provides a physical operation interface with real-time force feedback and multimodal data. Thanks to the high-precision hollow shaft servo motor, force feedback can be applied when pulling the trigger to close beams. Two Metafingers are installed on the beams, capturing shape and force during interaction.

There are two types of the gripper, including in-hand and on-robot types. The in-hand gripper is handled by users for human data streaming, while the on-robot one is mounted at the end of robots for manipulation.

Preview

MagiClaw gripper (in-hand)

MagiClaw gripper (on-robot)

Specifications

Parameters	Description
Power Supply	24V/5A DC via XT30 2+2
USB	2 x USB 2.0 OTG Type-C, only for finger testing
WiFi	Dual-band 802.11ax, in fingers
CAN	1 x CAN (XT30 2+2)
Dimensions (W x D x H)	375mm * 209mm * 276mm (in-hand type, without iPhone) 295mm * 209mm * 202mm (on-robot type, without iPhone)
Weight	989g (in-hand type, without iPhone) 770g (on-robot type, without iPhone)
Operating Temperature	0 ~ 45℃

Hardware Usage

Bill of Materials

in-hand gripper

Part	Specifications	Quantity	Price (per unit)	Link
Motor	MHF 5010 CAN	1	$ 296.31	https://www.aliexpress.com/item/1005009731983099.html
Top shell	PLA	1	$ 1.12	https://drive.google.com/file/d/1u9bZTqpig1fBzgMcuVXdWFItjDkMo8Mh/view
Base shell	PLA	1	$ 1.89	https://drive.google.com/file/d/1tfQc9PytfQVK_Qy_11IXHCngBe5iiW2F/view
Shell mount	PLA	1	$ 0.30	https://drive.google.com/file/d/1nlqZIpiJYmywV45G_MlLcMkE1q_deL2P/view
Top nameplate	PLA	1	$ 0.75	https://drive.google.com/file/d/1Z9DXUkFQLGJdMg_CR3MfItRlX0H4m0vp/view
Bottom nameplate	PLA	1	$ 0.75	https://drive.google.com/file/d/1Q3_jjFl7PvukAB15x0eEsxXqQTnQoazR/view
Screw	ABS	1	$ 0.10	https://drive.google.com/file/d/1sV5R-4zj9w4BAbP_0PpWD7BEIRzygJ1L/view
Screw nut	ABS	1	$ 0.11	https://drive.google.com/file/d/1Rs0u9opo7F-tTiT9P_748-TyiIR9-Kvd/view
Healical rack	ABS	1	$ 0.13	https://drive.google.com/file/d/1aMYeXCfOWLaHQMsBN98DdCgBvwEVfCe4/view
Bearing	C-SE675ZZ	24	$ 0.50	https://www.misumi.com.cn/vona2/detail/110310432539/?HissuCode=C-SE675ZZ
Retaining ring	NETW4	16	$ 0.80	https://www.misumi.com.cn/vona2/detail/110300258420/?HissuCode=NETW4
Rotary Shaft	SSFRRA5-30-B3.2-S3.2	9	$ 6.00	https://www.misumi.com.cn/vona2/detail/110300087010/?HissuCode=SSFRRA5-30-B3.2-S3.2
Drive beam	PLA	2	$ 0.32	https://drive.google.com/file/d/1cEeRGYgR0g2Nf7qNjyFftf9o5vGsJ89z/view
Follow beam	PLA	2	$ 0.25	https://drive.google.com/file/d/1h0yl-geyBEdM_0jntxV3cXn5BJsVr164/view?usp=drive_link
Left finger base	PLA	1	$ 0.66	https://drive.google.com/file/d/11cSSWh5EHE0BFLffHZ_sb8RWxQWwHHT8/view
Right finger base	PLA	1	$ 0.66	https://drive.google.com/file/d/1-IM-RkRU1kfg-FRjMWjNSDh7U-RE2a-h/view
Finger base cover	PLA	2	$ 0.13	https://drive.google.com/file/d/1Eus6iT9yvoio3EBYRjjuiVTvwth0cwvX/view
Soft finger	Hei-Cast 8400	2	$ 25.00	https://drive.google.com/file/d/1SlXp93rtElRAw1PS2mrloDCAdfeSR9Z3/view
Finger interface	4 cm wide, 4 mm thick with felt	2	$ 2.00	https://detail.tmall.com/item.htm?id=748792781150&skuId=5208513812728
Finger dev board	LicheeRV Nano W	2	$ 15.29	https://www.aliexpress.com/item/1005006519668532.html
Finger camera	GC4653	2	$ 12.26	https://www.aliexpress.com/item/1005006519668532.html
Camera lens	1.8mm 1/4＂5MP	2	$ 5.00	https://item.taobao.com/item.htm?id=671331312652&skuId=5891956706853
Finger marker	PLA	2	$ 0.21	https://drive.google.com/file/d/1hJ1iUjy75cXlg5wXO78ic4KK_Y1Lnz3c/view
Finger power PCB	FR4 PCB	2		https://drive.google.com/drive/folders/1-b9oGVACvfp3T8-qzOmqxVsLl4mksPlh
Power PCB	FR4 PCB	1		https://drive.google.com/drive/folders/1ymNa_mwGXbwF55RjAqjUQPZOV2jSwz_r
Power trans PCB	FR4 PCB	1		https://drive.google.com/drive/folders/11fd4yoTDukvfjYV2SqP2AOzYtkLRmx0y
Linear guide	E-MLGW7-50	2	$ 12.00	https://www.misumi.com.cn/vona2/detail/110310572039/?HissuCode=E-MLGW7-50
Power PCB cover for handle	PLA	1	$ 0.62	https://drive.google.com/file/d/1gVXZnIhdqjMlWBviyLnjxSO6TzCORPpO/view
Trigger	ABS	1	$ 0.93	https://drive.google.com/file/d/1Vi53mOdb2OjZAxtqKOPZfDBR8xDeZx1H/view
Cold shoe receiver	TA-CSR2-B	1	$ 9.00	https://tilta.com/shop/tilta-cold-shoe-receiver-adapter-with-locking-pin-black/
Phone holder	PLA	1	$ 0.95	https://drive.google.com/file/d/1ywqVuWZIkTsfOR_taeNFQPMMQtumiTP1/view
Handle (left)	PLA	1	$ 2.58	https://drive.google.com/file/d/1S2b3ms95BF4K9o81q9gNh4g12DoFbxRZ/view
Handle (right)	PLA	1	$ 2.62	https://drive.google.com/file/d/1tm3VfZwteP6g8tsx5w7q1IuHyogOT5MS/view
Mount cover	PLA	2	$ 0.07	https://drive.google.com/file/d/1DlBIuFgerGIYexZSDRd7IaAEqd968FfM/view

on-robot gripper

CAD Models

STEP files of all 3D-printed parts are provided on Google Drive. A 3mf file is also provided for 3D printing on .

Most of parts can be printed using PLA. Only a few number of parts, including the Screw and the Trigger, necessitate ABS to guarantee dependable strength.

PCB Files

All PCB files are provided on Google Drive, including schematic, gerber, bom, etc.