Hand Gripper RH-P12-RN Robotis

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Hand Gripper RH-P12-RN Robotis

Features
1-DOF Two-Finger Hand
Multi-functional robot hand with 2 fingers powered by 10W DC motor.

Adaptive Gripping Design
Passive Joints enable adaptive gripping for various shapes of objects.

Current Control (Force Control)
Torque control and current-based position control make it possible to pick up objects of various materials.

Light Weight & High Power
a 5kg high payload is delivered from a 500g light weighted robot hand.

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

Intuitive and Simple Mounting
The robot band can be quickly mounted on a ROBOTIS Manipulator.
Simplified design enables easy mounting on custom applications.

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

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

Packing List :
RH-P12-RN 1x (Assembled Product)
FRP42-A110K 1x
WB M3x8 20x
Robot Cable-X4P 180mm 1x
Robot Cable-X4P 180mm (Convertible) 1x

Datasheet : http://emanual.robotis.com/docs/en/platform/rh_p12_rna/
Exp Source : https://github.com/ROBOTIS-GIT/RH-P12-RN_Example