Overview

PincOpen Open-Source Parallel Gripper — making robotic grasping accessible to everyone!

Optional fixed-focus camera with high frame rate 60FPS
Optional auto-focus camera 30FPS
Derived from Reachy 2 professional gripper technology
Low-cost parallel finger gripper

Key Features

Open-source design, 3D printable
Low-cost parallel finger gripper
Reachy 2 professional gripper technology
Compatible with Feetech STS3215 servo motor; works with SO-ARM101, LeKiwi, and XLRobot arms
Adjustable-angle camera mount

License & Open-Source

This product is based on the PincOpen open-source project. Code: Apache 2.0, Mechanical Design: CC BY 4.0. For more details, visit the project repository: https://github.com/pollen-robotics/PincOpen

Product Advantages — Reachy 2 Parallel Gripper

Reachy 2 Professional Gripper Technology

PincOpen is derived from Pollen Robotics Reachy 2’s professional-grade gripper technology, achieving significant cost reduction while maintaining core functionality.
Replaceable Fingertip Design

Fingertips support replaceable TPU material, allowing customization for different application scenarios.
Feetech STS3215 Servo Motor

The same servo motor used in the SO-ARM101 robotic arm, directly replaceable for the SO-ARM101 gripper section. The STS3215-C018 servo provides data feedback and protection for angle, temperature, voltage, current, and load, capturing positions at any 360° angle in real time, with an alarm indicator light.
Adjustable Camera Mount

Compatible with zoom 30FPS and fixed-focus 60FPS cameras. After securing the camera mount, the camera angle can be fine-tuned to accurately cover the robot arm’s working area.
Compatible with SO-ARM101, LeKiwi, XLRobot Arms

Fully compatible with SO-ARM101, LeKiwi, and XLRobot open-source robotic arms, using the same motor for true plug-and-play integration.

STS3215 Motor Configuration Guide

Configure the motor ID to 6 before use. Please follow the steps below:

Install the LeRobot library
Connect the motor and power on
Run the motor configuration script

Important: perform midpoint calibration!

PincOpen Gripper Assembly Guide

A detailed assembly guide PDF is provided, including:

3D printed parts list
Parts preparation instructions
Illustrated assembly steps
Calibration and debugging methods

Application Scenarios

Educational robotics experiments
Maker DIY projects
Robotic grasping research
Companion gripper for SO-ARM101, LeKiwi, and XLRobot arms
Low-cost robotic platform development

PincOpen Open-Source Gripper Shipping List

PincOpen gripper (fully assembled)
Feetech STS3215 servo motor
Mounting accessory kit
Connection cable

Préhenseur parallèle open source PincOpen