This is likely what you're looking for. You can buy complete kits on Amazon, or source your parts directly. There are several remixes on thingiverse if you need customizations.
I'm planning on using the design as a base, but using nema 23s instead of 17s to increase the max object size/weight
That looks very much like what we hoped to find!
Are the Pi and camera necessary for optimal scans, or are there other ways we can control the jigs(?) Movement?
They certainly make sense for making it a one piece solution, but if we can use the iPad as the camera wed like to utilize what existing equipment we can.
My plan is to have it just run off of an esp32 and run a 2.5mm cable to my dslr to control the shutter. I'm sure that someone sells a shutter button for the iPad that you can rig up to something to trigger it. There might even be a way to use Bluetooth for it. The esp32 has Bluetooth, but I'm not sure if it's capable of sending Bluetooth requests like that (I haven't messed with that feature) so you might need an intermediate server like Home Assistant to handle the shutter if you go that route.
You don't even need to use a pi. Pretty much any SBC should be able to run it, but an esp32 should be sufficient for a simple scanner, especially if you're not uploading the pictures from the scanner.
If you go the esp32 route, I'd recommend https://esphome.io. That way you don't have to learn how to program in C.
Super! I actually have some unused esp32s laying around
It would be super simple to code. Basically just a nested for loop that moves the motor a few steps then presses a button a few hundred times.
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