MAGPIE gripper
Based on published sources · Not tested by us ·
Overview
Two AX-12A servos drive parallel fingers through four-bar linkages; OpenRB-150 control and a palm RealSense D405. [S001] [S002] [S003] [S004] [S005] [S006]
MAGPIE combines two AX-12A servos, four-bar finger linkages, an OpenRB-150 controller and a palm-mounted RealSense D405 camera. Its V2 design is useful for studying a camera-equipped gripper, but an identified base-export problem should be resolved before fabrication. [S003] [S007]
Specifications
| Detail | Description |
|---|---|
| Type | Parallel and adaptive grippers Source-researched; no physical verification. Editorial assessment [S001] [S002] [S003] [S004] [S005] [S006] · Checked 2026-09-30 |
| Intended users | Builders evaluating this tooling design and its integration requirements Editorial assessment [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] · Checked 2026-09-30 |
| Assembly | V2 README flags identical top/bottom base exports despite differing assembly descriptions. Resolve that geometry before quoting or building. Software and host-arm mounting must match V2. Known prerequisites and unresolved assembly decisions; not a complete build instruction. Editorial assessment [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] · Checked 2026-09-30 |
| Calibration | Not known |
| Operating system | Not known |
| Computer needed | Not known |
3D preview
Preview not available yet. A model has not yet been prepared and approved for display on this page. This does not mean the project lacks CAD files; see Source files and licenses for the reviewed source availability.
Assembly and use
Select the V2 parts
Start with Documentation/BOM.md and Documentation/assembly.md in the pinned hardware repository. The V2 list includes printed PLA parts, six bearings and M2/M3 fasteners. The upstream approximate total is $455.28; the displayed line amounts add to $455.27. The one-cent discrepancy does not make either number a current delivered quote. Currency region, supplier stock, tax, shipping and the full host-arm integration budget have not been verified. [S004] [S005]
The CAD README warns that the top and bottom base exports are identical even though their assembly descriptions differ. Check corrected geometry with the maintainer before printing or pricing a complete V2 build. [S007]
Mounting and controls
The lab documents a UR5 setup, but that application does not establish that the pinned V2 parts fit an arbitrary Universal Robots arm. The hardware README points to correlllab/MAGPIE for control software; match that software revision, wiring and host-arm mount to V2 before operating it. [S006] [S003]
Source rights and limits
The hardware README applies MIT terms to the models and build documentation, consistent with the root license. It also identifies separate MIT software. The matching control revision and source coverage of purchased servos, electronics and camera remain separate checks. No assembly or performance test has been performed for this profile. [S002] [S003]
Cost
No current, complete configuration-specific build cost has been established for this profile.
Source files and licenses
MIT; current hardware README explicitly covers models and build documentation. V2 README flags identical top/bottom base exports despite differing assembly descriptions. Resolve that geometry before quoting or building. Software and host-arm mounting must match V2.
| Layer | Availability / license |
|---|---|
| mechanical design | available · MIT MIT; current hardware README explicitly covers models and build documentation. Availability refers to the scoped files described here, not a complete configuration-matched manufacturing pack. [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] |
| electronics | not found · License not fully assessed A complete revision-matched source set for this tooling configuration was not established in the inspected documents. Standalone controls and purchased components require separate review; this is not a claim that no code or electronic files exist. [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] |
| firmware | not found · License not fully assessed A complete revision-matched source set for this tooling configuration was not established in the inspected documents. Standalone controls and purchased components require separate review; this is not a claim that no code or electronic files exist. [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] |
| software | not found · License not fully assessed A complete revision-matched source set for this tooling configuration was not established in the inspected documents. Standalone controls and purchased components require separate review; this is not a claim that no code or electronic files exist. [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] |
| documentation | available · License not fully assessed MIT; current hardware README explicitly covers models and build documentation. Availability refers to the scoped files described here, not a complete configuration-matched manufacturing pack. [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] |
This profile scopes hardware tooling, without selecting a learned controller or training dataset.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · correlllab
MAGPIE gripper pinned tree
Accessed 2026-09-30 · 030623ad803ebec607601f203eb9537d0ac3f177Source notes
Evidence for the scoped draft design assessment.
- S002 · correlllab
MAGPIE gripper / LICENSE
Accessed 2026-09-30 · 030623ad803ebec607601f203eb9537d0ac3f177 LICENSESource notes
Evidence for the scoped draft design assessment.
- S003 · correlllab
MAGPIE gripper / README.md
Accessed 2026-09-30 · 030623ad803ebec607601f203eb9537d0ac3f177 README.mdSource notes
Evidence for the scoped draft design assessment.
- S004 · correlllab
MAGPIE gripper / Documentation/BOM.md
Accessed 2026-09-30 · 030623ad803ebec607601f203eb9537d0ac3f177 Documentation/BOM.mdSource notes
Evidence for the scoped draft design assessment.
- S005 · correlllab
MAGPIE gripper / Documentation/assembly.md
Accessed 2026-09-30 · 030623ad803ebec607601f203eb9537d0ac3f177 Documentation/assembly.mdSource notes
Evidence for the scoped draft design assessment.
- S006 · www.colorado.edu
magpie-ur
Accessed 2026-09-30 · Captured 2026-09-30Source notes
Evidence for the scoped draft design assessment.
- S007 · correlllab
CAD/README.md
Accessed 2026-09-30 · 030623ad803ebec607601f203eb9537d0ac3f177 CAD/README.mdSource notes
Build and artifact context for the selected design.
- S008 · correlllab
Documentation/README.md
Accessed 2026-09-30 · 030623ad803ebec607601f203eb9537d0ac3f177 Documentation/README.mdSource notes
Build and artifact context for the selected design.
Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1
Change history
2026-09-30 — Classified in the end-effector hierarchy with cited mechanism and platform evidence; build and rights limitations retained.