ROBOTIS Robot Hand for Universal Robots e-Series

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

5kg of high payload is delivered from 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 ROBOTIS Manipulator.

Simplified design enables easy mounting on custom applications.


Package Components

Package including RH-P12-RN & Universal Robots e-Series exclusive parts


1 (Assembled Product)
UR Mounting Frame1
Cable Cover Frame1
Robot Cable 180mm (URe Exclusive)1
WB M3x44
WB M6x86
WB M3x86
Hex Key (Wrench)2 Types
USB Memory (For mounting UR Cap)1
Compatible Products





H/W Specification
MCUST CORTEX-M4 (STM32F405 @ 168Mhz, 32bit)
Position SensorContactless Absolute Encoder (12bit, 360°)
Baud Rate9,600 bps ~ 10.5Mbps
Control AlgorythmPID Control
Degree of Precision0.088°
Operating ModeCurrent Control Mode
Current based Position Control Mode
Gear Ratio1181 : 1
Maximum Gripping Force170N
Recommended Payload5kg
Operating Temperature-5°C ~ 55°C
Nominal Voltage24V
Command SignalDigital Packet
Protocol TypeRS485 Asynchronous Serial Communication (8bit, 1stop, No Parity)
Physical ConnectionRS485 Multidrop BUS
ID0 ~ 252
FeedbackPosition, Velocity, Current, Temperature, Input Voltage, etc
MaterialFull Metal Gear, Metal Body
Standby Current30mA
Factory Default Settings
Baud Rate57600bps

Please make necessary modifications to ID, baud rate, etc. after purchase


The shape has been changed to increase the durability of the fingertip, which has resulted in a stroke change of 109mm to 106mm.

(Applies to orders shipped out from November 4, 2019)