PincOpen 오픈소스 패러럴 그리퍼

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

1. 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.

2. Replaceable Fingertip Design

   Fingertips support replaceable TPU material, allowing customization for different application scenarios.

3. 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.

4. 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.

5. 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:

1. Install the LeRobot library
2. Connect the motor and power on
3. 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