RhinoV2.0 Adaptive Gripper

An open-source adaptive two-finger gripper designed for low-cost, high-performance robotic applications.

Other
Open source
3D printable

Suggested by Robotheca, created by @Ragtime-LAB (opens in a new tab), from github.com/Ragtime-LAB/RhinoV2.0_Gripper (opens in a new tab). Pinned to commit 099a3cd (opens in a new tab).

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Hardware license: GPL-3.0-only (opens in a new tab)
Software license: GPL-3.0-only (opens in a new tab)
Commercial use: Allowed

RhinoV2.0 Adaptive Gripper, photo from its repository — Photo:@Ragtime-LAB (opens in a new tab)GPL-3.0-onlysource file (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

Adaptive two-finger gripping for objects of various shapes and sizes
Manual open/close control via GUI
PID closed-loop control with force feedback
Real-time 6x6 pressure sensor visualization
Motor enable/disable control

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

1Obtain design files
2Manufacture parts
3Assemble the gripper

The guide appears here as you scroll.

Guide by @Ragtime-LAB (README.md), under GPL-3.0-only. The English translation is by Robotheca, shared under the same license.

More guides

3_RhinoV2.0_Gripper_control/README.mdin English

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

DAMIAO DM4310 joint motor (or DM4340/DM6006)
DAMIAO DM-FDCAN USB-CAN adapter
6x6 array pressure sensor (36 points, 2.5 mm x 2.5 mm per point)
24 V DC power supply for motors
USB connection for CAN adapter
UART serial connection for pressure sensor

Connections

USB cable connects computer to DM-FDCAN adapter
CAN bus cable connects DM-FDCAN adapter to DM4310 motor
UART serial cable connects computer to 6x6 pressure sensor
Motor powered by 24 V DC supply
CAN bus terminated with 120 Ω resistor at both ends

Project information

Difficulty: Intermediate
Estimated cost: ¥1,000≈ €133 (ECB rate, 14 Oct 2026)As stated by the creator.
Buildability: 45/100Incomplete documentation
Parts: –
Tools: 3D printer, CNC machine, soldering iron, screwdriver set

Buildability45/100

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 099a3cd. It isn't a rating of the robot.

3D and CAD files10/20
63 CAD source files.
Add the parts to print (STL or 3MF files).
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software10/15
Code in this repository, instructions to install or run it.
Say which software framework it uses (ROS 2, LeRobot, Arduino…).
Documentation15/15
README of 4,438 characters with 1 picture; 3 build steps.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: GPL-3.0-only; software: GPL-3.0-only.

Software

Framework: Not stated
Languages: Python
License: GPL-3.0-only

The code

3_RhinoV2.0_Gripper_control/Python · 6 files

How to run it

Written by Robotheca from the project's documents.

Install Python 3.8+ and pip
Clone the repository and enter the control folder
Run 'pip3 install -r requirements.txt' to install dependencies
Run 'python3 dev_sn.py' to read the USB-CAN adapter's serial number
Update the serial number in the control program (e.g., gripper_ui_integrated.py)
Connect hardware as described and run 'python3 gripper_ui_integrated.py'

Robotheca doesn't review code. Read it before running it.

Project files

Every file of the project: code, CAD, electronics, guides, at commit 099a3cd.

Community

Questions and improvements go to the creator's repository.

Photo