Open Source RoboticsRobots, software & field notes

Rhino V2 adaptive gripper

Adaptive gripGrasping

Based on published sources · Not tested by us ·

Overview

Underactuated two-finger gripper with DM4310 actuation, assembly CAD and a mixed fabrication BOM; control licensing is unresolved. [S001] [S003] [S004]

Rhino V2 is a two-finger adaptive gripper for builders who can combine printed parts with machining and sheet-metal work. Its repository provides SolidWorks 2025 files, an assembly STEP and a mechanical BOM around a DAMIAO DM4310 motor. The preview shows the upstream assembly geometry, including purchased-component representations. It does not establish their manufacturing source or a finished working build. [S001] [S002]

Official website · Source code

Upstream photograph of a Rhino V2 build, with its CAD design visible on the monitor. This is the maintainer’s build, not a build tested by us.
Upstream photograph of a Rhino V2 build, with its CAD design visible on the monitor. This is the maintainer’s build, not a build tested by us. Ragtime-LAB / wEch1ng and contributors · GPL-3.0. Reproduced unchanged; displayed responsively.

3D preview

Rhino V2 gripper assembly. Assembly geometry; purchased components are represented, not separately source-qualified.

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Download original STEP · File provenance and other models

Source, license and scale

Source: Ragtime-LAB, revision 099a3cde0b35ee1f2a6a49e97a60686d2dcaaa3f. Original and preview: GPL-3.0. Preview conversion by Open Source Robotics; original file unchanged. STEP preview triangulated in millimetres. No physical part tested.

Confirm scale and manufacturing settings before printing.

Specifications

DetailDescription
TypeUnderactuated two-finger gripper
Reported by source [S001] · Checked 2026-09-30
Intended usersBuilders able to fabricate and integrate a custom gripper.
Editorial assessment [S001] · Checked 2026-09-30
AssemblyMechanical BOM and CAD available; detailed assembly tutorial still forthcoming.
Reported by source [S001] [S002] · Checked 2026-09-30
CalibrationNot known
Operating systemLinux; upstream recommends Ubuntu 18.04 or later.
Documented control environment, not independently tested.
Reported by source [S003] · Checked 2026-09-30
Computer neededLinux computer with Python 3.8 or later, USB-CAN adapter and sensor serial interface for the documented control route.
No minimum CPU/RAM verified.
Reported by source [S003] · Checked 2026-09-30
Assembly and use

Plan fabrication before ordering the motor

The BOM names a CNC rotor-to-leadscrew transmission part, a custom leadscrew and nut, and four nut-linkage pieces. Its note recommends 304 stainless sheet for the latter because strength may otherwise be insufficient. The bottom cover permits PETG printing or CNC fabrication and discourages resin printing because of heat-set insert retention. The list also specifies MF85ZZ and MF128ZZ flanged bearings, grooved pins and torsion springs. Several screw entries lack quantities, and the detailed assembly tutorial is still marked as forthcoming. Reconcile fastener counts and fits against the CAD before placing a complete order. [S001] [S002]

The README leaves gripping stroke, maximum gripping force and mass unfilled. It describes inspiration from Robotiq 2F-85, which does not establish interchangeable mounts, performance or control interfaces. A cobot or delta adaptation would need its own mounting and integration evidence. No configuration-specific current build total is verified. [S001]

The control package needs a separate decision

The documented control route uses Linux, Python 3.8 or later, a DM-FDCAN USB-CAN adapter and 24 V motor power. It also describes a reference 6×6 pressure-sensor array over UART for force feedback. The README places the power adapter in an optional list while requiring 24 V at the motor; provide a suitable motor supply even if a particular adapter is unnecessary. Adapter serial number, CAN IDs and sensor port are configuration values to replace, not settings to copy from the example. [S003]

The control directory includes Python programs and precompiled USB-CAN libraries. Their complete build source was not established in this review. More importantly, its license section says the project is for learning and research only, while the root README and GPL-3.0 license state broader reuse terms. This profile therefore covers the mechanical design under the root grant and leaves the control package's reuse scope unresolved. Clarify that conflict before relying on the bundled software for redistribution or commercial integration. [S001] [S003] [S004]

No physical assembly, powered control or gripping test was performed for this profile. [S004]

Cost

No current, complete configuration-specific build cost has been established for this profile.

Source files and licenses

Licensed mechanical design with purchased components and unresolved integration requirements. Control-subdirectory license notice conflicts with root GPL; no blanket software reuse grant is asserted.

LayerAvailability / license
mechanical designavailable · GPL-3.0
Mechanical files and root documentation under repository GPL. Purchased parts are not separately source-qualified. [S001] [S004]
electronicsnot found · License not fully assessed
A complete revision-matched source set for this layer was not established in the inspected repository; this is not a claim that external components are closed. [S001] [S003]
firmwarenot found · License not fully assessed
A complete revision-matched source set for this layer was not established in the inspected repository; this is not a claim that external components are closed. [S001] [S003]
softwareavailable · License not fully assessed
Python control files are available, but the control README limits use to learning/research despite root GPL terms. Precompiled USB-CAN libraries also leave source completeness unresolved. [S001] [S003] [S004]
documentationavailable · GPL-3.0
Root mechanical documentation carries GPL terms; the control README contains a conflicting learning/research-only notice, so its reuse scope remains unresolved. [S001] [S003] [S004]

No learned policy or dataset selected for this mechanical configuration.

References

Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.

  1. S001 · Ragtime-LAB
    Gripper overview
    Accessed 2026-09-30 · README.md at 099a3cde0b35ee1f2a6a49e97a60686d2dcaaa3f
    Source notes

    Inspected source for this configuration; no physical tests.

  2. S002 · Ragtime-LAB
    Mechanical BOM
    Accessed 2026-09-30 · 2_BOM/BOM.xlsx at 099a3cde0b35ee1f2a6a49e97a60686d2dcaaa3f
    Source notes

    Inspected source for this configuration; no physical tests.

  3. S003 · Ragtime-LAB
    Control documentation
    Accessed 2026-09-30 · 3_RhinoV2.0_Gripper_control/README.md at 099a3cde0b35ee1f2a6a49e97a60686d2dcaaa3f
    Source notes

    Inspected source for this configuration; no physical tests.

  4. S004 · Ragtime-LAB
    Root license
    Accessed 2026-09-30 · LICENSE at 099a3cde0b35ee1f2a6a49e97a60686d2dcaaa3f
    Source notes

    Inspected source for this configuration; no physical tests.

Research and review details

Source research only; no hardware build, procurement, calibration or performance testing.

Profile edited 2026-09-30 · Sources checked 2026-09-30 · Next review target 2026-10-30

Revision: 099a3cde0b35ee1f2a6a49e97a60686d2dcaaa3f.

Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1

Change history

2026-09-30 — Replaced duplicate CAD still with an attributed upstream image; image scope and reuse evidence reviewed.