Hello - I'm want to build a small ball gripper system to create a quick-connect torque transfer (maximum 1Nm at this point, so very small). I'm leaning towards using a ball gripper type as I believe it's easier than a finger type to build and will be strong enough for my application.

I'm trying to figure out how to calculate what size taper (diameter and angle) I should take and what pulling force will be required to create the torque coupling without slipping.

Have no idea where to start from - as most ATC build I see here start from a known taper and then probably reverse engineer the pulling force needed to keep things from slipping. I'm trying the opposite route of knowing the torque I want to transmit without slipping and how small I can do the coupling. Ideally I'd be able to use standard steel without hardening so I can manufacture it myself?

Thanks for any pointers and insights.