ROBOTIS Hand RH-P12-RN
1-DoF 2-Finger Adaptive Robot Hand

Features:

1-DOF Two-Finger Hand

Multi-functional robot hand with 2 fingers powered by 10W DC motor.

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Adaptive Gripping Design

Passive Joints enable adaptive gripping for various shapes of objects.

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Current Control (Force Control)

Torque control and current-based position control make it possible to pick up objects of various materials.

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Light Weight & High Power

5kg of high payload is delivered from 500g light weighted robot hand.

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Detachable Finger Tips

Detachable finger tips can be easily replaced with customized finger tips.

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Intuitive and Simple Mounting

• The robot band can be quickly mounted on ROBOTIS Manipulator.
• Simplified design enables easy mounting on custom applications.

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Dynamixel 2.0 Protocol

• The robot hand supports DYNAMIXEL 2.0 protocol for easy control.
• Power and communication are connected via DYNAMIXEL BUS.

Specifications:

RH-P12-RN Specifications
MCU	ST CORTEX-M4 (STM32F405 @ 168Mhz, 32bit)
Position Sensor	Contactless Absolute Encoder (12bit, 360°)
Motor	Coreless
Baud Rate	9,600 bps ~ 10.5Mbps
Control Algorythm	PID Control
Degree of Precision	0.088°
Operating Mode	Current Control Mode Current based Position Control Mode
Weight	500g
Stroke	0-106mm
Gear Ratio	1181 : 1
Maximum Gripping Force	170N
Recommended Payload	5kg
Operating Temperature	-5°C ~ 55°C
Nominal Voltage	24V
Command Signal	Digital Packet
Protocol Type	RS485 Asynchronous Serial Communication (8bit, 1stop, No Parity)
Physical Connection	RS485 Multidrop BUS
ID	0 ~ 252
Feedback	Position, Velocity, Current, Temperature, Input Voltage, etc
Material	Full Metal Gear, Metal Body
Standby Current	30mA

Dimensions

OpenSoftware:

Supports Various Development Environments

C++ examples for Windows, Linux and ROS.

Video:

2-Finger Adaptive Robot Hand (RH-P12-RN)