Based on 3d printer controller, BrailleRAP is an open hardware device to emboss Braille text or Vector graphics. You can use software like AccessBrailleRAP or DesktopBrailleRAP to build tangible document with the device.
BrailleRAP now exist in 2 differents size BrailleRAP and BrailleRAP XL
Embosseuse Braille Open Source DIY
La documentation complete est disponible ici https://braillerap.readthedocs.io/fr/latest/index.html
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DIY Open Source Braille embosser
the full documentation is available here https://braillerap-en.readthedocs.io/en/latest/index.html