by Tesollo
Five-finger anthropomorphic hands. Pick M for force, S for the sub-1 kg humanoid build.
16 of 25 specs differ across 3 models
| Spec | DGDG-5F-M | DGDG-5F-S (20-DoF) | DGDG-5F-S (15-DoF) |
|---|---|---|---|
| General | |||
| Number of Fingers | 5 | 5 | 5 |
| Degrees of Freedom | 20 | 20 | 15 |
| Max Payload Capacity | 20 kg | 12 kg | 9.6 kg |
| Weight | 1763 g | 880 g | 780 g |
| Max Gripping Force | 97 N | 19.4 N | 14.5 N |
| Actuation | electric | electric | electric |
| Integrated Sensors | Optional fingertip sensors: 6-axis F/T Sensor, 3-axis Force Sensor, Tactile Sensor | Optional fingertip sensors: Tactile Sensor | Optional fingertip sensors: Tactile Sensor |
| Operating Voltage | 24 VDC | 24 VDC | 24 VDC |
| Peak Current | 10 A | 10 A | 10 A |
| ROS Support | Yes | Yes | Yes |
| Control Loop Frequency | 250 Hz | 500 Hz | 500 Hz |
| Finger degrees of freedom | 4 dof | 4 dof | 3 dof |
| Payload (form-fit / encompassing) | 10 kg | 7 kg | 5.6 kg |
| Payload (friction grip) | 2.5 kg | 1 kg | 0.8 kg |
| Grip modes | 3 | — | — |
| SDK | Delto Gripper SDK (C/C++) with Delto Gripper Manager UI; ROS 2 packages (dg5f_ros2) providing URDF/xacro, ros2_control driver, MoveIt 2 config and Gazebo sim for Humble, Jazzy and Lyrical | Delto Gripper SDK (C/C++) with Delto Gripper Manager UI; ROS 2 packages (dg5f_s_ros2) providing URDF/xacro, ros2_control driver, MoveIt 2 config and Gazebo sim for Humble, Jazzy and Lyrical | Delto Gripper SDK (C/C++) with Delto Gripper Manager UI; ROS 2 packages (dg5f_s_ros2) providing URDF/xacro, ros2_control driver, MoveIt 2 config and Gazebo sim for Humble, Jazzy and Lyrical |
| Communication Protocols | Modbus RTU, Modbus TCP, Ethernet (TCP/IP) | Modbus TCP, Ethernet (TCP/IP) | Modbus TCP, Ethernet (TCP/IP) |
| Encoder Resolution | 12 bit | 14 bit | 14 bit |
| Encoder Type | absolute | absolute | absolute |
| Max Speed | 75 RPM | 85 RPM | 85 RPM |
| Motor Type | BLDC | DC | DC |
| Mounting Interface | ISO 9409-1-50-4-M6 tool flange, via the supplied adapter frame | ISO 9409-1-50-4-M6 tool flange, via the supplied adapter frame | ISO 9409-1-50-4-M6 tool flange, via the supplied adapter frame |
| Peak Torque | 2 Nm | 0.65 Nm | 0.65 Nm |
| ROS Version | ROS 2 | ROS 2 | ROS 2 |
| Rated Torque | 0.4 Nm | 0.11 Nm | 0.11 Nm |