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
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.

Package Components

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


1 (Assembled Product)
UR Mounting Frame 1
Cable Cover Frame 1
Robot Cable 180mm (URe Exclusive) 1
WB M3x4 4
WB M6x8 6
WB M3x8 6
Hex Key (Wrench) 2 Types
USB Memory (For mounting UR Cap) 1
QuickStart 1
Compatible Products


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
Factory Default Settings
ID 1
Baud Rate 57600bps

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)