Servo-Electric

Grippers

EN-2023.07
DH-Robotics is a high-tech company which focus on providing core components for
industrial intelligent manufacturing scenarios. Based on the self-developed precision
force control direct drive technology, we provide customers in various industries around
the world with diversified electric grippers and precision motion products to reduce
production costs, improve production efficiency, and achieve intelligent manufacturing.

Our Support System

R&D System

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Management

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Projects Training Quality After-sales

Assessment Supervision Service

Manufacturing

Quality System Stock Supply Manufacturing

Management Management
CONTENTS

Applications 5
Selection Reference 8
Products Brief Parameters 10

PGE Series PGSE Series

Slim-type Electric Slim-type Electric
Parallel Gripper Parallel Gripper

PGE-2-12 14 PGSE-15-7 23
PGE-5-26 15
PGE-8-14 16
PGE-15-10 17
PGE-15-26 18
PGE-50-26 19
PGE-50-40 20
PGE-100-26 21

RGI Series
Electric Rotary Gripper
RGD Series
Electric Direct Drive
Rotaty Gripper
RGIC-35-12 25
RGIC-100-35 26 RGD-5-14 31
RGI-100-14 27 RGD-5-30 32
RGI-100-22 28 RGD-35-14 33
RGI-100-30 29 RGD-35-30 34
PGI Series PGHL Series
Electric Parallel Gripper Heavy-Load Long-Stroke
Electric Parallel Gripper

PGI-140-80 36 PGHL-400-80 38

PGS Series PGC Series

Miniature Electro- Electric Collaborative
magnetic Gripper Parallel Gripper

PGS-5-5 40 PGC-50-35 42
PGC-140-50 43
PGC-300-60 44

AG Series CG Series
Electric Adaptive Gripper Electric Centric Gripper

AG-160-95 46 CGE-10-10 50
AG-105-145 47 CGI-100-170 51
DH-3 48 CGC-80-10 52

-3-
Applications in Cutting-edge Industries
More solutions and applications, please visit www.dh-robotics.com

Precision Machining
and Assembly

Semiconductors

Automotive
Electronic Parts

LASER

The 3c Electronic New Energy

Industry

Factory
Logistics

Display Panel

Medical and
Lanboratory Automation

More Industries

-4-
Application cases

PGE-8-14 Automatic Application PGE-8-14 Electronics

One collabotative robot with two electric grippers to complete Handling and positioning of very small workpieces.
the loading and unloading.

RGI-35-14 Medical Automation PGE-15-26 Medical Automation

The automatic sub-cup processing system, through ABB’s Scara Double-channel scan code to read the information, and unscrew
robotic arm and DH-Robotics electric gripper, can automatically the tube cover. Participate in automatic cup sharing process.
complete the operation of sample tube opening, scanning,
information entry, pipetting, turning plate, and closing lid.

-5-
Application cases

PGC-50-35 Automation AG-160-95 Automotive

Two PGC-50-35 grippers were applied with UR robot to pick& AG-160-95 electric gripper was applied with a collaborative
place the work-pieces on production line. robot to complete the clamping and assembly of needle roller
bearings.

PGC-140-50 Robot New Retail AG-160-95 Machining

The PGC-140-50 was applied with DOOSAN robot to complete a The AG-160-95 electric gripper was applied with AGV and COBOT
show in CHANEL stores located in 20 countries to celebrate the to complete machine tool loading and unloading and machine
100th anniversary of CHANEL No. 5 perfume. tool equipment management.

-6-
Short wire correspondence table
Our gripper can directly connect to the end interface of each brand of collaborative
robot through a short wire.
Support electric UR CB UR E UR E DOBOT Elite Elite TECHMAN Doosan Doosan Han's Neuro
gripper models CR Series Aubo Jaka CS Series EC Series ROBOT A Series M Series Elephant SINSUN ROKAE Robot meka Hanwha FAIRINO
Series Series Series
Small current electric
gripper (Peak current≤0.6A) Wo
Small current electric
gripper (Peak current＜1.5A) Wa Wa Wc Wg Wa Wh Wd Wa Wi Wa
High current electric
claw (Peak current＞1.5A) Wb
In common (Support large and Wj We Wf Wk Wl Wm
small current electric gripper)

DH-Robotics’ Gripper and Cylinder Communication Protocol Conversion Box

The communication within DH-Robotics' Servo Gripper and Servo Electric Cylinder defaults to Modbus RTU (RS485) and a small number
of I/O. If customers choose other communication protocols, they will need to use the communication protocol conversion box.
The following communication protocol conversion boxes are available for selection:

Communication Protocol Communication Protocol

Ordering Model Conversion Box Name Ordering Model
Conversion Box Name

EtherCAT 1-1 FG-M2E-B1-1 TCP/IP 1-1 FG-M2T-B1-1-YBT

EtherCAT 1-4 FG-M2E-B1-4 PROFINET 1-2 FG-M2P2-B1-2-HJ

Please contact our

technical staff
EtherCAT转 PROFINET 1-11 FG-M2P-B1-11-9
confirm the specific
I/O 1-More
parameters

Quick Selection Reference

According to the following five conditions, you can quickly and initially select the matching gripper model;
or you can also consult sales for detailed understanding and selection.

Condition 1 Condition 2 Condition 3 Condition 4 Condition 5

Application Workpiece weight Gripping stroke Feature selection Environmental
requirements

IP 67

Collaborative robot Workpiece shape Workpiece size Rotary IP class

Load Parallel / centric Self-locking Temperature
Workpiece material conditions
Outer clip,
Peak current Friction inner support
Envelope grab …
Industrial robot … Fingertip design …
Automation module …

-7-
Host Computer Debugging Software（PC Side）

User-friendly
The host computer debugging software was self-developed by DH-Robotics, it can help customers easily and quickly complete
various function parameters adjustments, testing and initialization setting on the PC side. At the meaning time, various status
information is provided in real time, which can save a lot of production line setup time and reduce the difficulty of operation and
maintenance for on-site engineers.

Open the
Connect PC Adjust parameters Run or test Get feedback
debugging
and gripper in the interface the gripper adjustment results
software

Parameters Adjustable Real-time feedback

·gripping force ·four gripping states

·fingertip position ①movement status
·gripping speed ②in place
·rotation angle* ③clamp state
·rotation speed* ④ dropped state
·rotation force(torque force)* ·location versus time graph
·clamping current as a fuction of time

* Please consult sales person for

Example: DH-Robotics PC software specific applicable models

-8-
Products Brief Parameters

PGE Series
Slim-type Electric Parallel Gripper
Precision Fast
force control Small Size Response
PGE-2-12 PGE-5-26 PGE-8-14 PGE-15-10

All-in-one Adjustable Intelligent Replaceable Self-locking

Design Parameters Feedback Fingertip Mechanism
PGE-15-26 PGE-50-26 PGE-50-40 PGE-100-26

Recommended Opening/closing
Gripping Force (N) Stroke（mm） IP Class
workpiece weight(kg) time(s)
PGE-2-12 0.8~2 0.05 12 0.15 IP40
PGE-5-26 0.8~5 0.1 26 0.3 IP40
PGE-8-14 2~8 0.1 14 0.3 IP40
PGE-15-10 6~15 0.25 10 0.3 IP40
PGE-15-26 6~15 0.25 26 0.5 IP40
PGE-50-26 15~50 1 26 0.45 IP40
PGE-50-40 15~50 1 40 0.45 IP40
PGE-100-26 30~100 2 26 0.5 IP40

PGSE Series
Slim-type Electric Parallel Gripper
Fast
Small Size Response

All-in-one Replaceable
Design Fingertip
PGE-15-7

Recommended Opening/closing
Gripping Force (N) Stroke（mm） IP Class
workpiece weight(kg) time(s)
PGSE-15-7 6~15 0.25 7 0.15 IP40

-9-
RGI Series
Electric Rotary Gripper
Infinite Dual Servo Compact
Rotation System Type

RGIC-35-12 RGIC-100-35

All-in-one Adjustable Intelligent Replaceable

Design Parameters Feedback Fingertip

RGI-100-14 RGI-100-22 RGI-100-30

Recommended Opening/closing
Gripping Force (N) Stroke（mm） IP Class
workpiece weight(kg) time(s)
RGIC-35-12 13~35 0.5 12 0.6 IP40
RGIC-100-35 40~100 1 35 0.9 IP40
RGI-100-14 30~100 1.5 14 0.6 IP40
RGI-100-22 30~100 1.5 22 0.65 IP40
RGI-100-30 30~100 1.5 30 0.7 IP40

RGD Series
Electric Direct Drive Rotaty Gripper
Zero Infinite Precise
Backlash Rotation Positioning

All-in-one Adjustable Intelligent Replaceable Self-locking

Design Parameters Feedback Fingertip Mechanism RGD-5-14 RGD-5-30 RGD-35-14 RGD-35-30

Recommended Opening/closing
Gripping Force (N) Stroke（mm） IP Class
workpiece weight(kg) time(s)
RGD-5-14 2~5.5 0.05 14 0.5 IP40
RGD-5-30 2~5.5 0.05 30 0.5 IP40
RGD-35-14 10~35 0.35 14 0.5 IP40
RGD-35-30 10~35 0.35 30 0.7 IP40

- 10 -
PGI Series
Electric Parallel Gripper
High Load High Protection Long Stroke
Grade

All-in-one Adjustable Intelligent Replaceable Self-locking

PGI-140-80
Design Parameters Feedback Fingertip Mechanism

Recommended Opening/closing
Gripping Force (N) Stroke（mm） IP Class
workpiece weight(kg) time(s)
PGI-140-80 40~140 3 80 1.1 IP54

PGHL Series
Heavy-Load Long-Stroke Electric Parallel Gripper
High Load High Protection Long Stroke
Grade

All-in-one Adjustable Intelligent Replaceable Self-locking PGHL-400-80

Design Parameters Feedback Fingertip Mechanism

Recommended Opening/closing
Gripping Force (N) Stroke（mm） IP Class
workpiece weight(kg) time(s)
PGHL-400-80 140~400 8 80 1.0/1.1 IP40

PGS Series
Miniature Electro-magnetic Gripper
Small Size High Easy
Frequency Operation

Replaceable Self-locking PGS-5-5

Fingertip Mechanism

Recommended Opening/closing
Gripping Force (N) Stroke（mm） IP Class
workpiece weight(kg) time(s)
PGS-5-5 3~5.5 0.05 5 0.03 IP40

- 11 -
PGC Series
Electric Collaborative Parallel Gripper
Plug and Play High Protection High Load
Grade

All-in-one Adjustable Intelligent Replaceable Self-locking

Design Parameters Feedback Fingertip Mechanism PGC-50-35 PGC-140-50 PGC-300-60

Recommended Opening/closing
Gripping Force (N) Stroke（mm） IP Class
workpiece weight(kg) time(s)
PGC-50-35 15~50 1 37 0.7 IP54
PGC-140-50 40~140 3 50 0.6 IP67
PGC-300-60 80~300 6 60 0.8 IP67

AG Series
Electric Adaptive Gripper
Envelope
Plug and Play Adaptive Gripping Long Stroke

All-in-one Adjustable Intelligent Replaceable Self-locking

Design Parameters Feedback Fingertip Mechanism AG-160-95 AG-105-145 DH-3

Recommended Opening/closing
Gripping Force (N) Stroke（mm） IP Class
workpiece weight(kg) time(s)
AG-160-95 45~160 3 95 0.9 IP54
AG-105-145 35~105 2 145 0.9 IP54
DH-3 10~65 1.8 106(parallel)/122(centric) 0.7 IP40

CG Series
Electric Centric Gripper
Centric
Gripping

All-in-one Adjustable Intelligent Replaceable Self-locking

CGE-10-10 CGI-100-170 CGC-80-10
Design Parameters Feedback Fingertip Mechanism

Recommended Opening/closing
Gripping Force (N) Stroke（mm） IP Class
workpiece weight(kg) time(s)
CGE-10-10 3~10 0.1 10 (Single jaw) 0.3
(Inward work-
CGI-100-170 30~100 1.5 φ40~φ170 piece diameter) 0.5 IP40
CGC-80-10 20~80 1.5 10 (Single jaw) 0.2 IP67

- 12 -
PGE Series
Slim-type Electric Parallel Gripper
PGE-2-12 PGE-15-26
PGE-5-26 PGE-50-26
PGE-8-14 PGE-50-40
PGE-15-10 PGE-100-26

The PGE series is an industrial slim-type electric parallel gripper. With its precise force control, compact size and
highly working speed, it has become a “Hot sell product” in the field of industrial electric gripper.

Installation
1. Front installation: use front screw holes for installation
2. Rear installation: use rear screw holes for installation
3. Right installation: use right screw holes for installation
4. Left installation: use left screw holes for installation
5. Bottom installation : use bottom screw holes for installation

Installation
direction

Dowel

Product Features
● Small size ● High Working Speed ● Precise Force Control
Flexible Installation
The fastest opening and closing With special driver design and
The thinnest size is 18 mm with time can reach 0.15 s / 0.15 s, which driving algorithm compensation,
compact structure, supports at least can meet the high-speed and stable the gripping force is continuously
five flexible installation methods to clamping requirements of the adjustable, and the force repeat-
meet the needs of clamping tasks & production line. ability could reach 0.1 N.
saves design space.

Application
For scenarios requiring force control or
flexibility, such as assembly, sorting and
loading and unloading in semiconductor,
3C electronics, medical automation and
other industries.

- 13 -
 Parameters
PGE-2-12 Product Parameter
Gripping force (per jaw) 0.8~2 N
Stroke 12 mm

PGE Series
Recommended workpiece weight *① 0.05 kg
Opening/closing time 0.15 s/0.15 s
Repeat accuracy (position) ± 0.02 mm

PGSE Series
Noise emission < 40 dB
Weight 0.15 kg
Driving method Rack and pinion + Cross roller guide
Fz
Mz

RGI Series
My Size Gripper Size:65 mm x 39 mm x 18 mm
Controller Size:78 mm x 52.4 mm x 27.2 mm
Mx
Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②

RGD Series
Rated voltage 24 V DC ± 10%

Static Vertical Allowable Load Rated current 0.2 A

Fz 35 N Peak current 0.5 A

PGI Series
Allowable Loading Moment IP class IP 40
Mx 0.2 N·m Recommended environment 0~40°C, under 85% RH
My 0.17 N·m Certification CE, FCC, RoHS

PGHL Series
Mz 0.2 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us.
Build-in Gripping Force Position Speed Drop Self-locking
*② Use optional communication, need external communication

PGS Series
conversion box, please consult the sales staff for details Controller Adjustable Adjustable Adjustable Detection Mechanism

Technical Drawings
+0.02

PGC Series
3 0 Depth 3.2 4-M3 Depth 3.5
(Same on the opposite side) (Same on the opposite side)
12

+0.02
3.50

10 3 0 Depth 3.2
20 (Same on the opposite side)
36
AG Series
11.30
17.60
16.20 8.09
7.45
cable allowable bending radius R40mm
10

2
secure at least 100mm
11

200

CG Series

3.90
4-M3 Depth 3.5 5
(Same on the opposite side) 15.50
1 9
+0.02 +0.02
4- 2.50 0 Depth 2.5 3 0 Depth 3.2
(Same on the opposite side)
16
3.50
45°

+0.02
Min：2.6（close）

2- 2.50 0 Depth3.2
Max:15(open)

9
39

43

18

18

2-M3 Depth 6
12

10 +0.02
3.50
10.50 20 3 0 Depth 3.2 14
2-M3 Depth 3
18 36 (Same on the opposite side)
65

- 14 -
 Parameters
PGE-5-26 Product Parameter
Gripping force (per jaw) 0.8~5 N
Stroke 26 mm
PGE Series

Recommended workpiece weight *① 0.1 kg

Opening/closing time 0.3 s/0.3 s
Repeat accuracy (position) ± 0.02 mm
PGSE Series

Noise emission < 40 dB

Weight 0.4 kg

Fz Driving method Rack and pinion + Cross roller guide

Mz
RGI Series

95 mm x 55 mm x 26 mm(without brake)
My
Size 113.5 mm x 55 mm x 30 mm(with brake)
Mx

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT * ②
RGD Series

Rated voltage 24 V DC ± 10%

Static Vertical Allowable Load Rated current 0.4 A

Fz 50 N Peak current 0.7 A

PGI Series

Allowable Loading Moment IP class IP 40

Mx 0.3 N·m Recommended environment 0~40°C, under 85% RH
My 0.25 N·m Certification CE, FCC, RoHS
PGHL Series

Mz 0.3 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us.
Build-in Gripping Force Position Speed Drop Self-locking
*② Use optional communication, need external communication
PGS Series

conversion box, please consult the sales staff for details Controller Adjustable Adjustable Adjustable Detection Mechanism

Technical Drawings
+0.02
PGC Series

3 0 Depth 3.2 4-M3 Depth 4

This drawing is for the gripper
3.50

(Same on the opposite side) (Same on the opposite side)

without the brake. If you need the
drawing for the gripper with the
20

brake, please download it from our

official website or contact our sales. 10 +0.02
20 3 0 Depth3.2
55 (Same on the opposite side)
AG Series

26 95
14 +0.02
8 4-M3 Depth 4 3 0 Depth 3.2
4 (Same on the (Same on the 20
2-M3 Depth4 opposite side) opposite side) 4-M3 Depth 4
14
CG Series

MAX:27(open)
MIN:1(close)

+0.02
3 0 Depth3.2
10

20
3.50
57.40

20
55

3.50
+0.02
2- 2.50 0 Depth3.2
+0.02
2-2.90 3 0 Depth3.2
+0.02 4.50 10
2- 2.50 0 Depth3.2
Cable allowable bending radius R50mm

20
60 6.40
+0.02
3 0 Depth 3.2 14.94
Secure at least 100mm

(Same on the opposite side)

19.80
200
Ref.47

M12*1
15

- 15 -
 Parameters
PGE-8-14 Product Parameter
Gripping force (per jaw) 2~8 N
Stroke 14 mm

PGE Series
Recommended workpiece weight *① 0.1 kg
Opening/closing time 0.3 s/0.3 s
Repeat accuracy (position) ± 0.02 mm

PGSE Series
Noise emission < 40 dB
Weight 0.4 kg
Driving method Rack and pinion + Cross roller guide
Fz

RGI Series
Mz

My
Size 97 mm x 62 mm x 31 mm
Mx

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②

RGD Series
Rated voltage 24 V DC ± 10%

Static Vertical Allowable Load Rated current 0.4 A

Fz 90 N Peak current 0.7 A

PGI Series
Allowable Loading Moment IP class IP 40
Mx 0.55 N·m Recommended environment 0~40°C, under 85% RH
My 0.45 N·m Certification CE, FCC, RoHS

PGHL Series
Mz 0.55 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us.
Build-in Gripping Force Position Speed Drop Self-locking
*② Use optional communication, need external communication

PGS Series
conversion box, please consult the sales staff for details Controller Adjustable Adjustable Adjustable Detection Mechanism

Technical Drawings
+0.02

PGC Series
4-M3 Depth 3 3 0 Depth 3.2
(Same on the opposite side) (Same on the opposite side)
3.50

20

10
+0.02
20 3 0 Depth 3.2
(Same on the opposite side)
54 AG Series

97
+0.02
4-M3 Depth 3 3 0 Depth3.2
31
(Same on the (Same on the
CG Series

26
opposite side) opposite side)
2-3.50 1
+0.02 4-M3 Depth6
3 0 Depth3.2

2-M3 Depth3.2 +0.02

MIN:39(close)
MAX:53(open)

3 0 Depth3.2
12.50
62

20
8.50

20
20
5

3.50
+0.02
3 0 Depth 3.2
3.50

Cable allowable bending rsdius R50m

21.60
10
26 6.40
20
Secure at least 100mm

54 14.94
+0.02 20
3 0 Depth3.2
200

(Same on the opposite side)

Ref.47

M12*1
15

- 16 -
 Parameters
PGE-15-10 Product Parameter
Gripping force (per jaw) 6~15 N
Stroke 10 mm
PGE Series

Recommended workpiece weight *① 0.25 kg

Opening/closing time 0.3 s/0.3 s
Repeat accuracy (position) ± 0.02 mm
PGSE Series

Noise emission < 60 dB

Weight 0.155 kg
Fz
Mz

My
Driving method Precise planetary gears + Rack and pinion
RGI Series

Gripper Size:89 mm x 30 mm x 18 mm
Mx Size Controller Size:78 mm x 52.4 mm x 27.2 mm

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②
RGD Series

Rated voltage 24 V DC ± 10%

Static Vertical Allowable Load Rated current 0.1 A

Fz 35 N Peak current 0.22 A

PGI Series

Allowable Loading Moment IP class IP 40

Mx 0.45 N·m Recommended environment 0~40°C, under 85% RH
My 0.4 N·m Certification CE, FCC, RoHS
PGHL Series

Mz 0.45 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us.
Build-in Gripping Force Position Speed Drop Self-locking
*② Use optional communication, need external communication
PGS Series

conversion box, please consult the sales staff for details Controller Adjustable Adjustable Adjustable Detection Mechanism

Technical Drawings
89
PGC Series

+ 0.02
3 0 Depth 3.2
(Same on the opposite side)
3.35
18

5
10 + 0.02
3 0 Depth 3.2
20 (Same on the opposite side)
49.50
AG Series

2- M3 Depth 4
(Same on the opposite side)

17.60 11.30
8.09
16.20
7.45
1
10

2
Cable allowable bending radius R40mm
11
CG Series

200

5 3.90 9

17.50 16

+ 0.02
3 0 Depth 3.2 6.75
(Same on the opposite side) + 0.02
2 0 Depth 3.2
16

2-M4 Penetrate
+ 0.02
2- 2.50 0 Depth 2.5
4.10
9.50

1 (close)

8 2.35
Max 11 (open)

3.35
4.75

5.25
31.60

23
30

25

10.50
2-M3 Depth 6
Min
85
2.

45° + 0.02 5 + 0.02

7
2- 2.50 0 Depth 2.5 3 0 Depth 3.2 + 0.02
44.50 (Same on the opposite side) 2 0 Depth 3.2 13

2-M3 Depth 3

- 17 -
 Parameters
PGE-15-26 Product Parameter
Gripping force (per jaw) 6~15 N
Stroke 26 mm

PGE Series
Recommended workpiece weight *① 0.25 kg
Opening/closing time 0.5 s/0.5 s
Repeat accuracy (position) ± 0.02 mm

PGSE Series
Noise emission < 40 dB
Weight 0.33 kg

Mz
Fz
Driving method Precise planetary gears + Rack and pinion
My

RGI Series
86.5 mm x 55 mm x 26 mm(without brake)
Size 107.5 mm x 55 mm x 26 mm(with brake)
Mx

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②

RGD Series
Rated voltage 24 V DC ± 10%

Static Vertical Allowable Load Rated current 0.25 A

Fz 70 N Peak current 0.5 A

PGI Series
Allowable Loading Moment IP class IP 40
Mx 0.9 N·m Recommended environment 0~40°C, under 85% RH
My 0.75 N·m Certification CE, FCC, RoHS

PGHL Series
Mz 0.9 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us.
Build-in Gripping Force Position Speed Drop Self-locking
*② Use optional communication, need external communication

PGS Series
conversion box, please consult the sales staff for details Controller Adjustable Adjustable Adjustable Detection Mechanism

Technical Drawings
+0.02

PGC Series
3 0 Depth3.2
3.50

4-M3 Depth3.5
This drawing is for the gripper (Same on the opposite side) (Same on the opposite side)
without the brake. If you need the
drawing for the gripper with the
brake, please download it from our
20

official website or contact our sales.

10
20 +0.02
3 0 Depth3.2
46.50
(Same on the opposite side)
AG Series

26 86.50
14 +0.02
2-M3 Depth 2.5 4-M3 Depth 4 3 0 Depth3.2
(Same on the (Same on the 20
8
opposite side) opposite side)
3.50

CG Series
7
14

2-2.90 4-M3 Depth 6

3.50
55

20
20

+0.02
2- 2.50 0 Depth3.2

+0.02
MAX:27(open)
MIN:1(close)

3 0 Depth3.2
+0.02
+0.02
Cable allowable bending rsdius R50m

2- 2.50 0 Depth 3.2 4.50 10

3 0 Depth3.2
20
51.50
Secure at least 100mm

6.40
14.94
+0.02 19.80
3 0 Depth3.2
(Same on the opposite side)
200
Ref.47

M12*1
15

- 18 -
 Parameters
PGE-50-26 Product Parameter
Gripping force (per jaw) 15~50 N
Stroke 26 mm
PGE Series

Recommended workpiece weight *① 1 kg

Opening/closing time 0.45 s/0.45 s
Repeat accuracy (position) ± 0.02 mm
PGSE Series

Noise emission < 40 dB

Weight 0.4 kg
Driving method Precise planetary gears + Rack and pinion
Fz
RGI Series

97 mm x 55 mm x 29 mm(without brake)
My Size 118 mm x 55 mm x 29 mm(with brake)
Mx

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②
RGD Series

Rated voltage 24 V DC ± 10%

Static Vertical Allowable Load Rated current 0.25 A

Fz 150 N Peak current 0.5 A

PGI Series

Allowable Loading Moment IP class IP 40

Mx 2.5 N·m Recommended environment 0~40°C, under 85% RH
My 2 N·m Certification CE, FCC, RoHS
PGHL Series

Mz 3 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us.
Build-in Gripping Force Position Speed Drop Self-locking
*② Use optional communication, need external communication
PGS Series

conversion box, please consult the sales staff for details Controller Adjustable Adjustable Adjustable Detection Mechanism

Technical Drawings
PGC Series

This drawing is for the gripper +0.02

3 0 Depth 3.2 4-M3 Depth 4
without the brake. If you need the (Same on the opposite side) (Same on the opposite side)
drawing for the gripper with the
3.50

2-M3 Depth 4
brake, please download it from our
official website or contact our sales.
20

22

10 +0.02
AG Series

20 18 3 0 Depth 3.2
57 (Same on the opposite side)

97

29 24
+0.02 +0.02
2- 3 0 Depth 3.2 17 3 0 Depth 3.2 4-M3 Depth 5 20
CG Series

(Same on the opposite side) (Same on the opposite side)

10.50
3.50
3.50

4-M3 Depth 6
Max:28(open)
Min:2(close)

+0.02
59.80
13.50
6.50

2- 3 0 Depth 3.2
55

20

13
20

3.50
Cable allowable bending radius R50mm

+0.02
Depth 3.2

5.50 10 2- 3 0 Depth3.2
2-M4 Depth 4.5 20 6.40
Secure at least 100mm

+0.02
15.80

3 0 Depth 3.2 57
+0.02

(Same on the opposite side) 15

0

200
2- 3

Ref.47

M12*1
15

- 19 -
 Parameters
PGE-50-40 Product Parameter
Gripping force (per jaw) 15~50 N
Stroke 40 mm

PGE Series
Recommended workpiece weight *① 1 kg
Opening/closing time 0.6 s/0.6 s
Repeat accuracy (position) ± 0.02 mm

PGSE Series
Noise emission < 40 dB
Weight 0.51 kg

Mz
Fz
Driving method Precise planetary gears + Rack and pinion
My

RGI Series
97 mm x 78 mm x 29 mm(without brake)
Size 118 mm x 78 mm x 29 mm(with brake)
Mx

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②

RGD Series
Rated voltage 24 V DC ± 10%

Static Vertical Allowable Load Rated current 0.25 A

Fz 150 N Peak current 0.5 A

PGI Series
Allowable Loading Moment IP class IP 40
Mx 2.5 N·m Recommended environment 0~40°C, under 85% RH
My 2 N·m Certification CE, FCC, RoHS

PGHL Series
Mz 3 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us.
Build-in Gripping Force Position Speed Drop Self-locking
*② Use optional communication, need external communication

PGS Series
conversion box, please consult the sales staff for details Controller Adjustable Adjustable Adjustable Detection Mechanism

Technical Drawings

PGC Series
This drawing is for the gripper +0.02
3 0 Depth 3.2 4-M3 Depth 4
without the brake. If you need the (Same on the opposite side) (Same on the opposite side)
drawing for the gripper with the
3.50

2-M3 Depth 4
brake, please download it from our
official website or contact our sales.
20

22

10 +0.02 AG Series
20 18 3 0 Depth 3.2
57 (Same on the opposite side)

97

29 24
+0.02 +0.02
2- 3 0 Depth 3.2 17 3 0 Depth 3.2 4-M3 Depth 5 20
CG Series

(Same on the opposite side) (Same on the opposite side)

10.50
3.50
3.50

4-M3 Depth 6
Max:28(open)
Min:2(close)

+0.02
59.80
13.50
6.50

2- 3 0 Depth 3.2
55

20

13
20

3.50
Cable allowable bending radius R50mm

+0.02
Depth 3.2

5.50 10 2- 3 0 Depth3.2
2-M4 Depth 4.5 20 6.40
Secure at least 100mm

+0.02
15.80

3 0 Depth 3.2 57
+0.02

(Same on the opposite side) 15

0

200
2- 3

Ref.47

M12*1
15

- 20 -
 Parameters
PGE-100-26 Product Parameter
Gripping force (per jaw) 30~100 N
Stroke 26 mm
PGE Series

Recommended workpiece weight *① 2 kg

0.5 s/0.5 s
Repeat accuracy (position) ± 0.02 mm
PGSE Series

Noise emission < 60 dB

Weight 0.55 kg
Fz
Driving method Precise planetary gears + Rack and pinion
My
RGI Series

Size 125 mm x 57 mm x 30 mm
Mx

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②
RGD Series

Rated voltage 24 V DC ± 10%

Static Vertical Allowable Load Rated current 0.3 A

Fz 150 N Peak current 1.2 A

PGI Series

Allowable Loading Moment IP class IP 40

Mx 2.5 N·m Recommended environment 0~40°C, under 85% RH
My 3 N·m Certification CE, FCC, RoHS
PGHL Series

Mz 4 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us.
Build-in Gripping Force Position Speed Drop Self-locking
*② Use optional communication, need external communication
PGS Series

conversion box, please consult the sales staff for details Controller Adjustable Adjustable Adjustable Detection Mechanism

Technical Drawings
PGC Series

4-M3 Depth 4
This drawing is for the gripper
3.5

+0.02
3 0 Depth3.2 (Same on the opposite side)
without the brake. If you need the (Same on the opposite side)

drawing for the gripper with the

20

brake, please download it from our

official website or contact our sales.
10
+0.02
20 3 0 Depth3.2
57 (Same on the opposite side)
AG Series

97

+0.02
3 0 Depth3.2 29
24 (Same on the opposite side) 4-M3 Depth5 17
20 (Same on the opposite side)
2- 3 +0.02
0 Depth3.2 10.5
CG Series

4-M3 Depth6
3.5
13
20

MAX:41(open)
MIN:1(close)

+0.02
74

2- 3 Depth3.2
78

3.5

0
20

3.5
Cable allowable bending radius R40mm

16.5
8

+0.02
2- 3 0 Depth3.2
10
20
Secure at least100mm

5.5 15 2- 3 +0.02
0 Depth3.2
57 7.5 2-M4 Depth4.5
+0.02
3 Depth3.2
200
Ref.47

0
(Same on the opposite side)

M12*1
15

- 21 -
PGSE Series
Slim-type Electric Parallel Gripper
PGSE-15-7

The PGSE Industrial Parallel Gripper is a miniature electric gripper specifically designed to meet the demand for quick
grasping in narrow and compact installation spaces in industrial settings.

Installation
1. Front installation: use front screw holes for installation
2. Rear installation: use rear screw holes for installation
3. Right installation: use right screw holes for installation
4. Left installation: use left screw holes for installation
5. Bottom installation : use bottom screw holes for installation

Installation
direction

Dowel

Product Features
● Ultimate Slimness ● High-Speed Response ● Flexible Installation
The PGSE gripper features a The PGSE gripper offers rapid opening The gripper body of the PGSE model
compact and intricate design, with and closing times, with a minimum provides multiple mounting options,
dimensions of only 85.6 x 38 x 23.2 response time of as fast as 0.15 seconds allowing for versatile installation in
mm (length x width x height), for both opening and closing actions. compact spaces. Coupled with its
making it extremely slim and This allows for quick grasping cycles, compact size, it facilitates easy
compact. meeting the high-speed gripping installation in tight spaces.
requirements of production lines.

Application
The PGSE gripper is suitable for compact produc-
tion environments, such as the semiconductor and
3C electronics industries, where it can be utilized
for gripping, sorting, loading, and unloading of
small-sized components.

- 22 -
 Parameters
PGSE-15-7 Product Parameter
Gripping force (per jaw) 6~15 N
Stroke 7 mm
PGE Series

Recommended workpiece weight *① 0.25 kg

Opening/closing time 0.15 s/0.15 s
Noise emission < 60 dB
PGSE Series

Weight 0.15 kg
Fz
Mz
Driving method Precise planetary gears + Rack and pinion
My

Size 85.6 mm x 38 mm x 23.2 mm

Mx
RGI Series

Working Environment
Communication
interface Modbus RTU (RS485)、Digital I/O*②
RGD Series

Rated voltage 24 V DC ± 10%

Rated current 0.15 A
Static Vertical Allowable Load Peak current 0.8 A
Fz 70 N
PGI Series

IP class IP 40
Allowable Loading Moment
Recommended environment 0~40°C, under 85% RH
Mx 0.9 N·m
Certification CE, FCC, RoHS
My 0.75 N·m
PGHL Series

Mz 0.9 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us.
Build-in Gripping Force Position Speed Drop Self-locking
*② Use optional communication, need external communication
PGS Series

conversion box, please consult the sales staff for details Controller Adjustable Adjustable Adjustable Detection Mechanism

Technical Drawings
PGC Series

+0.02
2.50 0 Depth 3.2 4-M3 Depth 3.5
Same on the opposite side Same on the opposite side
2-M3 Through
Cable allowable bending radius R50mm

18.40
2.75
Secure as least100mm

4 10 +0.02
AG Series

11 20 2.50 0 Depth 3.2

Same on the opposite side
57.90
CG Series

+0.02
2.50 0 Depth 3.2
Same on the opposite side
4-M3 Depth 3.5
Same on the opposite side
+0.02
2.50 0 Depth 3.2
5

2.75

2.75
8
38.20

33.50
38

Depth 3.2

2-M3 Depth 3.5

MIN：15.40(close)

5
MAX：22.40(open)

+0.02

8 18.20
15.60 10
0

23.20 17.30 20 +0.02

2.50

2.50 0 Depth 3.2

23.40
52.90 Same on the opposite side

85.60

- 23 -
RGI Series
Electric Rotary Gripper
RGIC-35-12 RGI-100-14
RGIC-100-35 RGI-100-22
RGI-100-30

RGI series is the first fully self-developed infinite rotating gripper with a compact and precise structure on the market. It is widely
applied in medical automation industry to grip and rotate the test tubes as well as other industries like electronics and New energy
industry.

Installation
1. Side installation: use side screw holes for installation
2. Bottom installation : use bottom screw holes for installation
3. Rear installation: use rear screw holes for installation
4. Front installation: Install with front screw holes

Installation
direction
Dowel

Product Feature
● Gripping & Infinite ● Compact ● High Gripping Force
Rotation Double Servo System and Torque
The unique structural design in the Dual servo systems are creatively The maximum single-sided gripping
industry can realize the simultane- integrated in a thin machine body, force is 100N, and the maximum
ous griping and infinite rotation on which is compact in design and can torque is 1.5N·m. Though precise
one electric gripper, and solve the be adapted to many industrial force control and position control, the
winding problem in non-standard scenes. RGI gripper can more stably complete
design and rotation. the grasping and rotating tasks.

Application
Medical automation reagents, blood samples, nucleic acids and
other sample processing scenarios such as opening and closing
covers, scaning code detection, etc.;
RGI-100 series comes standard with fingertips and can be adapted to
10 mix 1 and 20 mix 1 size tubes to meet the needs of large-scale
nucleic acid sampling.

- 24 -
 Parameters
RGIC-35-12 Product Parameter
Gripping force (per jaw) 13~35 N
Stroke 12 mm
PGE Series

Rated torque 0.2 N·m

Peak torque 0.5 N·m
Rotary range Infinite Rotating
PGSE Series

Recommended workpiece weight * ① 0.5 kg

Max. rotation speed 2160 °/s
Repeat accuracy (swiveling) ± 0.05 °
Fz
RGI Series

Mz

My
Repeat accuracy (position) ± 0.02 mm
Mx Opening/closing time 0.6 s/0.6 s
Weight 0.64 kg
RGD Series

150 mm x 53 mm x 34 mm
Size Rotaty Diameter:33mm

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT* ②
PGI Series

Rated voltage 24 V DC ± 10%

Static Vertical Allowable Load
Fz 100 N Rated current 1.7 A

Allowable Loading Moment Peak current 2.5 A

PGHL Series

Mx 1.5 N·m IP class IP 40

My 1.1 N·m Recommended environment 0~40°C, under 85% RH
Mz 2.1 N·m Certification CE, FCC, RoHS
PGS Series

*① It depends on the shape of the grasping object, the material and

friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Rotary Self-locking
*② Use optional communication, need external communication Controller Adjustable Adjustable Adjustable Detection Adjustable Mechanism
conversion box, please consult the sales staff for details
PGC Series

Technical Drawings
150 14 200

54 2- 3.2 Penetrate
47
AG Series

34

28

6.40

+ 0.02
3 0 Depth 3.2
MAX:13(open)
MIN:1(close)

33
CG Series

11 4-M4 Depth 4
15.50

17.50
5

53
2.50

36

16
28
5

25
3
3

2-M4 Depth 7 28
4-M3 Depth 4 37 12 3.50
+ 0.02
+ 0.02 3 0 Depth 3.2 + 0.02
2- 2.50 0 Depth 3.2 2- 3 0 Depth 3.2
+ 0.02
2- 2.50 0 Depth 3.2

+ 0.02
3 0 Depth 3.2
2-M4 Depth 7
26.50

28

Secure at least 100mm

+ 0.02 Cable allowable bending
3.50

12 3 0 Depth 3.2 radius R50mm

- 25 -
 Parameters
RGIC-100-35
Product Parameter
Gripping force (per jaw) 40~100 N
Stroke 35 mm

PGE Series
Rated torque 0.35 N·m
Peak torque 1.5 N·m
Rotary range Infinite Rotating

PGSE Series
Recommended workpiece weight * ①
1 kg
Max. rotation speed 1400 °/s
Fz
Repeat accuracy (position) ± 0.02 mm
Mz

RGI Series
My
Opening/closing time 0.9 s/0.9 s
Mx
Weight 0.65 kg
159 mm x 53 mm x 34 mm
Size Rotaty Diameter:41mm

RGD Series
Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT* ②

PGI Series
Rated voltage 24 V DC ± 10%
Static Vertical Allowable Load
Fz 200 N Rated current 2.0 A

Allowable Loading Moment Peak current 5.0 A

PGHL Series
Mx 3 N·m IP class IP 40
My 3 N·m Recommended environment 0~40°C, under 85% RH
Mz 2.5 N·m Certification CE, FCC, RoHS

PGS Series
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Rotary Self-locking
*② Use optional communication, need external communication Controller Adjustable Adjustable Adjustable Detection Adjustable Mechanism
conversion box, please consult the sales staff for details

PGC Series
Technical Drawings
159
34

51
28

14
6.40

AG Series
Ref.35.60

6.40 2- 3.20 Through 200

Secure at least 100mm
Cable allowable bending radius R50mm

+0.02
CG Series

3 0 Depth3.2
3.50

28

(Same on the opposite side)

4.50
6
15

16.50

4-M4 Depth4
M8*1
10

53
有效行程
MAX:35

40

25
16

3
1.25

2-M4 Depth 7 +0.02 +0.02

41 +0.02 3.50 3 0 Depth3.2
12 (Same on the opposite side) 3 0 Depth3.2
4- 2.50 0 Depth 3.2
16 34 28
4-M3 Depth 6 +0.02
3 0 Depth 3.2
(Same on the opposite side)

+0.02
39 3 0 Depth3.2
12 2-M4 Depth 7
34
39

+0.02
3.50

3 0 Depth3.2
28

- 26 -
 Parameters
RGI-100-14 Product Parameter
Gripping force (per jaw) 30~100 N
Stroke 14 mm
PGE Series

Rated torque 0.5 N·m

Peak torque 1.5 N·m
Rotary range Infinite Rotating
PGSE Series

Recommended workpiece weight * ① 1.5 kg

Max. rotation speed 2160 °/s
Repeat accuracy (swiveling) ± 0.05 °
RGI Series

Fz Repeat accuracy (position) ± 0.02 mm

Mz

My
Opening/closing time 0.6 s/0.6 s
Mx
Weight 1.28 kg
RGD Series

158 mm x 75.5 mm x 47 mm
Size Rotaty Diameter:47.1mm

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT * ②
PGI Series

Rated voltage 24 V DC ± 10%

Static Vertical Allowable Load
Fz 150 N Rated current 1.0 A

Allowable Loading Moment Peak current 4.0 A

PGHL Series

Mx 2.5 N·m IP class IP 40

My 3 N·m Recommended environment 0~40°C, under 85% RH
Mz 4 N·m Certification CE, FCC, RoHS
PGS Series

*① It depends on the shape of the grasping object, the material and

friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Rotary Self-locking
*② Use optional communication, need external communication Controller Adjustable Adjustable Adjustable Detection Adjustable Mechanism
conversion box, please consult the sales staff for details
PGC Series

Technical Drawings
88 +0.02
29 10 Ø3 0 Depth 3.20

6.50
4
AG Series

34

2- Ø 4.20 Through +0.02

2-M5 Depth12 Ø3 0 Depth 3.20

47 158
38 70
24.60 7.50 +0.02
+0.02 40
14 78 Ø3 0 Depth 3.20
2- Ø 3 0 Depth 3.20
CG Series

+0.02
Max:16(open)

+0.02
Min:2(close)

2- Ø 3 0 Depth 3.20 Ø3 0 Depth 3.20

Cable allowable bending
Secure at least 100mm

radius R50mm

4-M4 Depth 5 +0.02

25

Ø3 0 Depth 3.20
75.50

50
44
40

36
48

4
14.90
12
7
3.50

+0.02 4-M4 Depth 6

4-M4 Depth 6
Ø3 0 Depth 3.20 10
12.90
20

(Same on the opposite side) Ø 6.40

Ref. 47

200

M12*1
Ø 15

- 27 -
 Parameters
RGI-100-22 Product Parameter
Gripping force (per jaw) 30~100 N
Stroke 22 mm
0.5 N·m

PGE Series
Rated torque
Peak torque 1.5 N·m
Rotary range Infinite Rotating

PGSE Series
Recommended workpiece weight * ① 1.5 kg
Max. rotation speed 2160 °/s
Repeat accuracy (swiveling) ± 0.05 °

RGI Series
Mz
Fz Repeat accuracy (position) ± 0.02 mm
My
Opening/closing time 0.65 s/0.65 s
Mx

Weight 1.4 kg

RGD Series
158 mm x 75.5 mm x 47 mm
Size Rotaty Diameter:67.1mm

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT * ②

PGI Series
Rated voltage 24 V DC ± 10%
Static Vertical Allowable Load
Fz 200 N Rated current 1.0 A
Peak current 4.0 A
Allowable Loading Moment

PGHL Series
Mx 3.5 N·m IP class IP 40
My 4 N·m Recommended environment 0~40°C, under 85% RH
Mz 5.5 N·m Certification CE, FCC, RoHS

PGS Series
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Rotary Self-locking
*② Use optional communication, need external communication Controller Adjustable Adjustable Adjustable Detection Adjustable Mechanism
conversion box, please consult the sales staff for details

PGC Series
Technical Drawings
88
+0.02
29 10 3 0 Depth3.20

6.50

AG Series
4
34

2- 4.20 Through +0.02

2-M5 Depth12 3 0 Depth3.20

47
38 158
+0.02
24.60 2- 3 0 Depth 3.20 70
78
14 +0.02
7.50 40
CG Series

+0.02 3 0 Depth 3.20

7 2- 3 0 Depth 3.20 (Same on the opposite side)
MAX:24(open)
MIN:2(close)

4-M4 Depth 5 +0.03

3 0 Depth 3.20
3.50

+0.02
75.50

3 0 Depth 3.20
25
62
58

50
36
48
4

4
12
17

+0.02 4-M4 Depth 6 4-M4 Depth 6

7.50
5.50

3 0 Depth3.20 10 (Same on the opposite side)

4

Cable allowable bending

Secure at least 100mm

(Same on the opposite side)

15.50
20
radius R50mm

6.40
200
Ref.47

M12*1
15

- 28 -
 Parameters
RGI-100-30 Product Parameter
Gripping force (per jaw) 30~100 N
Stroke 30 mm
PGE Series

Rated torque 0.5 N·m

Peak torque 1.5 N·m
Rotary range Infinite Rotating
PGSE Series

Recommended workpiece weight * ① 1.5 kg

Max. rotation speed 2160 °/s
Repeat accuracy (swiveling) ± 0.05 °
RGI Series

Mz
Fz
Repeat accuracy (position) ± 0.02 mm
My
Opening/closing time 0.7 s/0.7 s
Mx

Weight 1.5 kg
RGD Series

158 mm x 75.5 mm x 47 mm
Size Rotaty Diameter:84.8mm

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT * ②
PGI Series

Rated voltage 24 V DC ± 10%

Static Vertical Allowable Load
Fz 250 N Rated current 1.0 A

Allowable Loading Moment Peak current 4.0 A

PGHL Series

Mx 4.5 N·m IP class IP 40

My 5 N·m Recommended environment 0~40°C, under 85% RH
Mz 7 N·m Certification CE, FCC, RoHS
PGS Series

*① It depends on the shape of the grasping object, the material and

friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Rotary Self-locking
*② Use optional communication, need external communication Controller Adjustable Adjustable Adjustable Detection Adjustable Mechanism
conversion box, please consult the sales staff for details
PGC Series

Technical Drawings
88 +0.02
29 Ø3 0 Depth 3.20
10
6.50
AG Series

4
34

2- Ø 4.20 Through +0.02

2-M5 Depth 12 Ø3 0 Depth 3.20
47
158
38 70
24.60 7.50 +0.02
+0.02
CG Series

14 78 Ø3 0 Depth 3.20 40
4- Ø 3 0 Depth 3.20
Max:32(open)

3.50
Min2(close)

8-M4 Depth 5
+0.02
Cable allowable bending
Secure at least 100mm

Ø3 0 Depth 3.2
+0.02
radius R50mm

4- Ø 3 0 Depth 3.20 +0.02

Ø3 0 Depth 3.2
25
75.50

50
82
78

36
48

4
14.90
23

4-M4 Depth 6
11
4

10 4-M4 Depth 6
12.90
+0.02 20
Ø3 0 Depth 3.20
Ø 6.40

( Same on the opposite side )

Ref. 47
200

- 29 -
RGD Series
Electric Direct Drive Rotaty Gripper
RGD-5-14 RGD-35-14
RGD-5-30 RGD-35-30

The RGD direct-drive electric rotary gripper of DH-Robotics adopts a direct-drive backlash-free rotation module to improve the
rotary accuracy, and thus is perfectly suited for high-precision manufacturing applications.

Installation
1. Front installation: use front screw holes for installation
2. Bottom installation: use bottom screw holes for installation

Product Features
● Zero Rotary Backlash ● High Dynamic Response ● All-in-one Design
High Repeatability High-speed Stability Power-off Protection
The RGD series adopts direct-drive The precision direct-drive technology, The gripper adopts the design of
rotary motors to realize zero rotary coupled with DH-Robotics' excellent integrating the dual servo system of
backlash and a rotary resolution of up drive control, realizes perfect control gripping and rotation with the drive
to 0.01°, which applies to rotary of gripping and rotation. The rotation control module, which is smaller and
positioning scenarios in semiconduc- speed is up to 1500° per second. more compact, and applies to more
tor production. scenarios. Brakes are optional to meet
the requirements of various applications.

Application
With the direct-drive technology, the RGD gripper can provide greatly
improved rotary accuracy, which can be used in scenarios such as the
high-precision positioning assembly, transport, and deflection correction
of 3C electronics and semiconductors.
M12*1

- 30 -
 Parameters
RGD-5-14 Product Parameter
Gripping force (per jaw) 2-5.5 N
Stroke 14 mm
PGE Series

Rated torque 0.1 N·m

Peak torque * ①
0.25 N·m
Rotary range Infinite Rotating
PGSE Series

Recommended workpiece weight * ②

0.05 kg
Max. rotation speed 1500 °/s
Fz
Mz
Rotary backlash Zero backlash
My
RGI Series

Repeat accuracy (swiveling) ± 0.1 °

Mx
Repeat accuracy (position) ± 0.02 mm
Opening/closing time 0.5 s/0.5 s
RGD Series

Weight 0.86 kg(without brake) 0.88 kg(with brake)

149 mm x 50 mm x 50 mm
Size Rotaty Diameter:48.7mm

Working Environment
PGI Series

Communication interface Modbus RTU (RS485)

Static Vertical Allowable Load
Rated voltage 24 V DC ± 10%
Fz 150 N
Rated current 1.2 A
Allowable Loading Moment
PGHL Series

Peak current 2.5 A

Mx 2 N·m
IP class IP 40
My 1.5 N·m
Recommended environment 0~40°C, under 85% RH
Mz 2.5 N·m
PGS Series

Certification CE，FCC，RoHS
*① The peak torque can be increased up to 0.5N·m. Please consult the
technical support staff for details.

*② It depends on the shape of the grasping object, the material and friction Build-in Gripping Force Position Speed Drop Rotary Self-locking
of the contact surface,and the acceleration of the motion, If you have any
questions, please contact us. Controller Adjustable Adjustable Adjustable Detection Adjustable Mechanism
PGC Series

Technical Drawings
+0.02
3 0 Depth 3.2
AG Series

42.50
4

30

5
+0.02
24.50 3 0 Depth 3.2
50
78
45
Depth 3.2

159
29 4-M4 Depth 7
CG Series

17 44 +0.02
10 2-M5 Depth 10 3 0 Depth 3.2
+0.02

4-M3 Depth 6
0 3

+0.02
2- 3 0 Depth 3.2
3.50
33
50

44

4
13
10

Max:17(open)
Min:3(close)
6.50

2- 4.20 Through
3

4-M3 Depth 4 47 2- 7.50 Depth 5 6.90

+0.02
Cable allowable bending radius R50mm

2- 3 0 Depth 3.2
200

Secure as least100mm
Ref 31.4

M8*1.0
10

- 31 -
 Parameters
RGD-5-30 Product Parameter
Gripping force (per jaw) 2-5.5 N
Stroke 30 mm

PGE Series
Rated torque 0.1 N·m
Peak torque * ①
0.25 N·m
Rotary range Infinite Rotating

PGSE Series
Recommended workpiece weight * ②
0.05 kg
Max. rotation speed 1500 °/s
Rotary backlash Zero backlash

RGI Series
Fz Repeat accuracy (swiveling) ± 0.1 °
Mz

My Repeat accuracy (position) ± 0.02 mm

Mx
Opening/closing time 0.5 s/0.5 s

RGD Series
Weight 1 kg(without brake) 1.02 kg(with brake)
149 mm x 50 mm x 50 mm
Size Rotaty Diameter:83.6mm

Working Environment

PGI Series
Communication interface Modbus RTU (RS485)
Static Vertical Allowable Load Rated voltage 24 V DC ± 10%
Fz 150 N
Rated current 1.2 A

PGHL Series
Allowable Loading Moment
Peak current 2.5 A
Mx 2 N·m
IP class IP 40
My 1.5 N·m
Recommended environment 0~40°C, under 85% RH
Mz 2.5 N·m

PGS Series
Certification CE，FCC，RoHS
*① The peak torque can be increased up to 0.5N·m. Please consult the
technical support staff for details.

*② It depends on the shape of the grasping object, the material and friction Build-in Gripping Force Position Speed Drop Rotary Self-locking
of the contact surface,and the acceleration of the motion, If you have any
questions, please contact us. Controller Adjustable Adjustable Adjustable Detection Adjustable Mechanism

PGC Series
Technical Drawings
+0.02
3 0 Depth 3.2

AG Series
42.50
4

30

5
50
45 24.50 +0.02
29 78 3 0 Depth 3.2
17 159
Depth 3.2

10 44
4-M3 Depth 4 4-M4 Depth 7
CG Series

+0.02
2-M5 Depth 10 3 0 Depth 3.2
+0.02
0 3

4-M3 Depth 6
78.50

44
33

+0.02
2- 3 0 Depth 3.2 4
Max:34(open)
Min:4(close)
22
17
3.50

11

2- 4.20 Through
6.90
5

+0.02 2- 7.50 Depth 5

Cable allowable bending radius R50mm

2- 3 0 Depth 3.2
200

Secure as least100mm
Ref 34.1

M8*1.0
10

- 32 -
 Parameters
RGD-35-14 Product Parameter
Gripping force (per jaw) 10-35 N
Stroke 14 mm
PGE Series

Rated torque 0.1 N·m

Peak torque * ①
0.25 N·m
Rotary range Infinite Rotating
PGSE Series

Recommended workpiece weight * ②

0.35 kg
Max. rotation speed 1500 °/s

Mz
Fz
Rotary backlash Zero backlash
RGI Series

My Repeat accuracy (swiveling) ± 0.1 °

Mx Repeat accuracy (position) ± 0.02 mm
Opening/closing time 0.5 s/0.5 s
RGD Series

Weight 0.86 kg(without brake) 0.88 kg(with brake)

149 mm x 50 mm x 50 mm
Size Rotaty Diameter:48.7mm

Working Environment
PGI Series

Communication interface Modbus RTU (RS485)

Static Vertical Allowable Load Rated voltage 24 V DC ± 10%
Fz 150 N Rated current 1.2 A
PGHL Series

Allowable Loading Moment Peak current 2.5 A

Mx 2 N·m
IP class IP 40
My 1.5 N·m
Recommended environment 0~40°C, under 85% RH
PGS Series

Mz 2.5 N·m
Certification CE，FCC，RoHS
*① The peak torque can be increased up to 0.5N·m. Please consult the
technical support staff for details.

*② It depends on the shape of the grasping object, the material and friction Build-in Gripping Force Position Speed Drop Rotary Self-locking
of the contact surface,and the acceleration of the motion, If you have any
questions, please contact us. Controller Adjustable Adjustable Adjustable Detection Adjustable Mechanism
PGC Series

Technical Drawings
+0.02
3 0 Depth 3.2
AG Series

42.50
4

30

5
+0.02
24.50 3 0 Depth 3.2
50
78
45
Depth 3.2

159
29 4-M4 Depth 7
17 44 +0.02
CG Series

10 2-M5 Depth 10 3 0 Depth 3.2

+0.02

4-M3 Depth 6
0 3

+0.02
2- 3 0 Depth 3.2
3.50
33
50

44

4
13
10

Max:17(open)
Min:3(close)
6.50

2- 4.20 Through
3

4-M3 Depth 4 47 2- 7.50 Depth 5 6.90

+0.02
Cable allowable bending radius R50mm

2- 3 0 Depth 3.2
200

Secure as least100mm
Ref 31.4

M8*1.0
10

- 33 -
 Parameters
RGD-35-30 Product Parameter
Gripping force (per jaw) 10-35 N
Stroke 30 mm

PGE Series
Rated torque 0.1 N·m
Peak torque * ①
0.25 N·m
Rotary range Infinite Rotating

PGSE Series
Recommended workpiece weight * ②
0.35 kg
Max. rotation speed 1500 °/s
Rotary backlash Zero backlash

RGI Series
Repeat accuracy (swiveling) ± 0.1 °
Fz
Mz

My
Repeat accuracy (position) ± 0.02 mm

Mx Opening/closing time 0.7 s/0.7 s

RGD Series
Weight 1 kg(without brake) 1.02 kg(with brake)
149 mm x 50 mm x 50 mm
Size Rotaty Diameter:83.6mm

Working Environment

PGI Series
Communication interface Modbus RTU (RS485)
Static Vertical Allowable Load Rated voltage 24 V DC ± 10%
Fz 150 N Rated current 1.2 A

PGHL Series
Allowable Loading Moment Peak current 2.5 A
Mx 2 N·m
IP class IP 40
My 1.5 N·m
Recommended environment 0~40°C, under 85% RH

PGS Series
Mz 2.5 N·m
Certification CE，FCC，RoHS
*① The peak torque can be increased up to 0.5N·m. Please consult the
technical support staff for details.

*② It depends on the shape of the grasping object, the material and friction Build-in Gripping Force Position Speed Drop Rotary Self-locking
of the contact surface,and the acceleration of the motion, If you have any
questions, please contact us. Controller Adjustable Adjustable Adjustable Detection Adjustable Mechanism

PGC Series
Technical Drawings
+0.02
3 0 Depth 3.2

AG Series
42.50
4

30

5
50
45 24.50 +0.02
29 78 3 0 Depth 3.2
17 159
Depth 3.2

10 44
CG Series

4-M3 Depth 4 4-M4 Depth 7

+0.02
2-M5 Depth 10 3 0 Depth 3.2
+0.02
0 3

4-M3 Depth 6
78.50

44
33

+0.02
2- 3 0 Depth 3.2 4
Max:34(open)
Min:4(close)
22
17
3.50

11

2- 4.20 Through
6.90
5

+0.02 2- 7.50 Depth 5

Cable allowable bending radius R50mm

2- 3 0 Depth 3.2
200

Secure as least100mm
Ref 34.1

M8*1.0
10

- 34 -
PGI Series
Electric Parallel Gripper
PGI-140-80

Based on the industrial requirements of “long stroke, high load, and high protection level”, DH-Robot-
ics independently developed the PGI series of industrial electric parallel gripper. The PGI series is widely
used in various industrial scenarios with positive feedback.

Installation
1. Front and rear installation: use front and rear screw holes for installation
2. Bottom installation : use bottom screw holes for installation

Installation
direction

Product Features

● Long Stroke ●High Protection Level ● High Load

Long stroke reach to 80 mm. With The protection level of PGI-140-80 The maximum single-sided
the customization fingertips, it reaches to IP54, which is able to gripping force of PGI-140-80 is 140
can stably grasp the medium and work under harsh environment N, and the maximum recommend-
large objects below 3kg and with dust and liquid splash. ed load is 3 kg, which can meet
suitable for lots of industrial more diverse gripping needs.
scenes.

Application

In industrial scenarios, it is used for gripping,

handling and assembly of heavy workpieces.
Mostly used in new energy, auto parts, machin-
ing, 3C electronics and other industries.

- 35 -
 Parameters
PGI-140-80 Product Parameter
Gripping force (per jaw) 40~140 N
Stroke 80 mm

PGE Series
Recommended workpiece weight *
①
3 kg
Opening/closing time 1.1 s/1.1 s
Repeat accuracy (position) ± 0.03 mm

PGSE Series
Noise emission < 50 dB
Mz
Fz
Weight 1 kg (exclude fingers)
My
Driving method Precise planetary gears + Rack and pinion

RGI Series
Size 95 mm x 67.1 mm x 92.5 mm
Mx

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②

RGD Series
Rated voltage 24 V DC ± 10%
Rated current 0.5 A
Static Vertical Allowable Load
Fz 300 N Peak current 1.2 A

PGI Series
Allowable Loading Moment IP class IP 54

Mx 7 N·m Recommended environment 0~40°C, under 85% RH

My 7 N·m Certification CE，FCC，RoHS

PGHL Series
Mz 7 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Self-locking
Controller Adjustable Adjustable Detection Mechanism

PGS Series
*② Use optional communication, need external communication Adjustable
conversion box, please consult the sales staff for details

Technical Drawings

PGC Series
2- 9 Depth 5.3
24.10
5.50 Depth 49.4
M12*1

AG Series
15

0.90

2-M6 Depth7

61.70 Secure at least 100mm Cable allowable

bending radius R50mm
36.30
+0.02 15 200
CG Series

25 3 0 Depth 3.2
4- 6.50 Through
8-M4 Depth 7
14

12.20 Depth 3.8

3 EQUALLY SPACE
3.50

6.40

+0.02
+0.02 2- 3 0 Depth 2.5
8- 6.50 0 Depth 3
95

55
70

31.50
87.50
60
52
42
28
14

45°
5

+0.02
17.10 3 0 Depth 3.2 4- 4.30 Through
49
61.90 6.50 P.C.D. 50
53.50
86

- 36 -
PGHL Series
Heavy-Load Long-Stroke
Electric Parallel Gripper
PGHL-400-80 S
O

PGHL series is an industrial flat electric gripper developed and produced by DH-Robotics. With its com-
pact design, heavy load and high force control accuracy, it can be applied to heavier load clamping
requirements and more application scenarios.

Installation
Bottom installation: use bottom screw holes for installation

Product Features
● Flat Electric Gripper ● High Force Control ● Quick Response
High Energy density Accurancy Intelligent planning speed
PGHL-400-80 industrial flat electric gripper, The force repeatability is Opening/closing time up to
the structure of which is delicate and ±40N(±10%). Far better than 1.0s/1.1s, with speed control
meticulous. The length, width and height ordinary products in the market by optimization and mechanical
dimensions is only 194 × 73 × 70mm. This ±10%~±20% of force control self-locking mechanism function, it
model can provide large clamping force and accuracy. can meet fast and stable gripping
fast clamping beat, coming with mechanical needs of the production line
self-locking mechanism, challenge the limit
of large load and thin size.

Application

Applied in industrial production of large weight and

large volume workpieces gripping and handling,
such as lithium batteries in the new energy industry
package gripping, large machined parts in automo-
bile assembly production in automotive assembly.

- 37 -
 Parameters
PGHL-400-80 Product Parameter
Gripping force (per jaw) 140～400 N
Stroke 80 mm

PGE Series
Recommended workpiece weight *
①
8 kg
Opening/closing time 1.0 s/ 1.1 s
Repeat accuracy (position) ± 0.02 mm

PGSE Series
S O Weight 2.2 kg
Precise planetary gears +
Fz
Driving method Tshaped lead screw+Rack and pinion
Mz
Size 194 mm x 73 mm x 70 mm
My

RGI Series
Working Environment
Mx Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②

RGD Series
Rated voltage DC 24 V ± 10%
Rated current 1.0 A
Static Vertical Allowable Load Peak current 3.0 A
Fz 1000 N

PGI Series
IP class IP 40
Allowable Loading Moment
Recommended environment 0~40°C, under 85% RH
Mx 50 N·m
Certification CE、FCC、RoHS
My 50 N·m

PGHL Series
Mz 15 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Self-locking
Controller Adjustable Adjustable Detection Mechanism

PGS Series
*② Use optional communication, need external communication Adjustable
conversion box, please consult the sales staff for details

Technical Drawings
70

PGC Series
73

AG Series
Cable allowable bending
Secure at least 100mm
radius R50mm
200

7.50 28
+0.02
CG Series

4-M6 12
16

2- 4 0 4.20 15 5
+0.02
4- 5.40贯穿 2- 4 0 3.2
30

max.82.20(open)
min.2.60(close)
60

+0.02
194

165

18 0 2.0
146

60

32 ±0.02
5
30
37

4-M6 10
+0.02
3-M4 6 2- 4 0 3.2
(Same on the opposite
30.50
side) 28 4-M6 12
64

- 38 -
PGS Series
Miniature Electro-magnetic Gripper
PGS-5-5

The PGS series is a miniature electromagnetic gripper with high working frequency. Based on a split
design, the PGS series could be applied in space-limited environment with the ultimate compact size
and simple configuration.

Installation
1. Front and rear installation: use front and rear screw holes for installation
2. Bottom installation : use bottom screw holes for installation

Installation
direction

Dowel

Product Features
● Small Size ● High Frequency ● Easy to Use
Compact size with 20×26 mm, The opening/closing time The configuration is simple
it can be deployed in a could reach 0.03s to meet the with the Digital I/O communi-
relatively small environment. needs of fast grasping. cation protocol.

Application

High-frequency fast capture, detec-

tion, adjustment and other scenarios
in 3C electronics, medical automation,
semiconductor and other industries .

- 39 -
 Parameters
PGS-5-5 Product Parameter
Gripping force (per jaw) 3.5-5 N
Stroke 5 mm
0.05 kg

PGE Series
Recommended workpiece weight *
Opening/closing time 0.03 s/0.03 s
Repeat accuracy (position) ± 0.01 mm

PGSE Series
Noise emission < 50 dB
Weight 0.2 kg

Fz Driving method Electromagnet + Spring

Mz

RGI Series
Gripper Size:68.5 mm x 26 mm x 20 mm
My
Size Controller Size:67.7 mm x 66.8 mm x 29.6 mm

Working Environment
Mx

Communication interface Digital I/O

RGD Series
Rated voltage 24 V DC ± 10%
Rated current 0.1 A
Peak current 3.0 A

PGI Series
Static Vertical Allowable Load
IP class IP 40
Fz 150 N
Recommended environment 0~40°C, under 85% RH
Allowable Loading Moment
Certification CE, FCC, RoHS

PGHL Series
Mx 0.62 N·m
My 0.62 N·m
Mz 0.62 N·m Build-in Gripping Force Position Speed Drop Self-locking

PGS Series
*It depends on the shape of the grasping object, the material and friction of Controller Adjustable Adjustable Adjustable Detection Mechanism
the contact surface,and the acceleration of the motion, If you have any
questions, please contact us.

Technical Drawings
2-M2 Through 2-M2 Depth 2.5

PGC Series
Same on the opposite side Same on the opposite side
5

15

3 AG Series
5
36

2-M3 Depth 6 (both sides)

32.50
CG Series

Pilot hole diameter ø2.7 through

(mounting hole for M2.5 bolt) + 0.03
20 3 + 0.01 Depth 2 15
13
4

22.50
3.50

16

20

22
26

Max:12(Open)
Min:7(Close)

1
2-M3 Depth 6
+ 0.03
3 + 0.01 Depth 2
4.8
Secure at least 100mm
68.50
Cable allowable bending radius R50mm

- 40 -
PGC Series
Electric Collaborative Parallel Gripper
PGC-50-35
PGC-140-50
PGC-300-60

DH-Robotics PGC series of collaborative parallel electric grippers is an electric gripper mainly used in cooperative
manipulators. It has the advantages of high protection level, plug and play, large load and so on. The PGC series
combines precision force control and industrial aesthetics. In 2021, it won two industrial design awards, the Red Dot
Award and the IF Award.

Installation
1. Bottom installation : use bottom screw holes for installation

Installation direction

Product Features
●High protection level ● Plug & Play ● High Load
The protection level of PGC series is PGC series supports plug & play with The gripping force of the PGC
up to IP67, so the PGC series is able most collaborative robot brands on series could reach 300 N, and the
to work under harsh conditions such the market which is easier to control maximum load can reach 6 kg,
as machine tending environment. and program. which can meet more diverse
gripping needs.

Application

With collaborative robots, it can complete a series of

complex processes including gripping, handling, and
assembly in scenarios such as medical automation,
3C electronics, new energy, and new robot retail.

- 41 -
 Parameters
PGC-50-35 Product Parameter
Gripping force (per jaw) 15~50 N
Stroke 37 mm
1 kg

PGE Series
①
Recommended workpiece weight *
Opening/closing time 0.7 s/0.7 s
Repeat accuracy (position) ± 0.03 mm

PGSE Series
Noise emission < 50 dB

Mz
Fz Weight 0.5 kg
My Driving method Precise planetary gears + Rack and pinion

RGI Series
Mx
Size 124 mm x 63 mm x 63 mm

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②

RGD Series
Rated voltage 24 V DC ± 10%
Rated current 0.25 A
Static Vertical Allowable Load
Fz 150 N Peak current 0.5 A

PGI Series
Allowable Loading Moment IP class IP 54

Mx 2.5 N·m Recommended environment 0~40°C, under 85% RH

My 2 N·m Certification CE, FCC, RoHS

PGHL Series
Mz 3 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Plug & Self-locking

PGS Series
*② Use optional communication, need external communication Controller Adjustable Adjustable Adjustable Detection Play Mechanism
conversion box, please consult the sales staff for details

Technical Drawings

PGC Series
4-Ø 6.5 Through
3 Ø 12.5 Depth 4.2
EQUALLY SPACE
Ø 31.50

Ø 63

44
58
AG Series
31.70
13.60

13.70 37
°
45

5 P.C.D. Ø 50

Conform to ISO 9409-1-50-4-M6 Standard flange

*if you need to customize the flange, it is recommended
1.50

to design according to the robot installation hole position, or contact us

CG Series
124

10.50 7
4-M3 Depth 4
93

M12*1

2-2.5 Depth 4
6.40

15

3
5

200
Secure at least 100mm Cable allowable
63 bending radius R50mm
8
4

21.70

Rail mounting holes

- 42 -
 Parameters
PGC-140-50 Product Parameter
Gripping force (per jaw) 40~140 N
Stroke 50 mm
Recommended workpiece weight *
①
3 kg
PGE Series

Opening/closing time 0.6 s/0.6 s

Repeat accuracy (position) ± 0.03 mm
PGSE Series

Noise emission < 50 dB

Fz
Weight 1 kg
Mz

My
Driving method Precise planetary gears + Rack and pinion
RGI Series

Size 138.5 mm x 75 mm x 75 mm
Mx

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②
RGD Series

Rated voltage 24 V DC ± 10%

Rated current 0.4 A
Static Vertical Allowable Load
Fz 300 N Peak current 1.0 A
PGI Series

Allowable Loading Moment IP class IP 67

Mx 7 N·m Recommended environment 0~40°C, under 85% RH
My 7 N·m Certification CE, FCC, RoHS
PGHL Series

Mz 7 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Plug & Self-locking
Controller Adjustable Adjustable Adjustable Detection Play Mechanism
PGS Series

*② Use optional communication, need external communication

conversion box, please consult the sales staff for details

Technical Drawings
PGC Series

2.50 4- Ø 6.5 Through

Ø 12.5 Depth 4.2
EQUALLY SPACE

53
Ø31.50

Ø75

36.40 73
AG Series

45°

17.60 50
19

5 P.C.D. Ø 50

Conform to ISO 9409-1-50-4-M6 Standard flange

*if you need to customize the flange, it is recommended
to design according to the robot installation hole position, or contact us
1.50
CG Series

138.50

7 4- M4 Depth 8
12
98

2-Ø3 Depth 3.5

M12*1
6.40

4
15

200
5

Secure at least 100mm

5

75 Cable allowable bending radius R50mm

10
5

26.40

Default finger mounting size

- 43 -
 Parameters
PGC-300-60 Product Parameter
Gripping force (per jaw) 80~300 N
Stroke 60 mm
Recommended workpiece weight *
①
6 kg

PGE Series
Opening/closing time 0.8 s/0.8 s
Repeat accuracy (position) ± 0.03 mm

PGSE Series
Noise emission < 50 dB
Fz
Mz Weight 1.5 kg
My
Driving method Precise planetary gears + Rack and pinion

RGI Series
Mx
Size 178 mm x 90 mm x 90 mm

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②

RGD Series
Rated voltage 24 V DC ± 10%
Rated current 0.4 A
Static Vertical Allowable Load
Fz 600 N Peak current 2.0 A

PGI Series
Allowable Loading Moment IP class IP 67

Mx 15 N·m Recommended environment 0~40°C, under 85% RH

My 15 N·m Certification CE, FCC, RoHS

PGHL Series
Mz 15 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Plug & Self-locking
Controller Adjustable Adjustable Adjustable Detection Play Mechanism

PGS Series
*② Use optional communication, need external communication
conversion box, please consult the sales staff for details

Technical Drawings

PGC Series
3
4-Ø 6.5 Through
Ø 12.5 Depth 4.2
EQUALLY SPACE
Ø 31.50

Ø 90

63
86.40
23.60

46.70 AG Series
60
21.10
45°

P.C.D. Ø 50
6
Conform to ISO 9409-1-50-4-M6 Standard flange
*if you need to customize the flange, it is recommended
to design according to the robot installation hole position, or contact us
CG Series
2
178

10 6-M4 Depth 6
12 4- 3 Depth 3.2
132

6.40

M12*1

5
15

12 12
6

200
Secure at least 100mm
6

90
Cable allowable bending radius R50mm

32.70

Rail mounting holes

- 44 -
AG Series
Electric Adaptive Gripper
AG-160-95
AG-105-145
DH-3

The AG series is a linkage-type adaptive electric gripper which is independently developed by DH-Robotics. With
Plug& Play software many and exquisite structural design , AG series is a perfect solution to be applied with
collabrative robots to grip work-pieces with different shapes in different industries.

Installation
1. Bottom installation : use bottom screw holes for installation

Installation direction
Dowel

Product Features
● Envelope ● Plug & Play ● Long Stroke
Adaptive Capture It supports plug & play with most The biggest stroke of the AG series is
The gripper linkage mechanism collaborative robot brands on the up to 145 mm. One gripper can meet
supports envelope adaptive market which is easier to control the grasping needs of objects of
grasping, which is more stable to and program. different sizes with good compatibility.
grip round, spherical or
special-shaped objects.

Application
Cooperate with collaborative robot or industrial
robot to complete material handling, loading
and unloading, assembly, testing, sorting and
other tasks in auto parts, automation equip-
ment, new energy and other industries.

- 45 -
 Parameters
AG-160-95 Product Parameter
Gripping force (per jaw) 45~160 N
Stroke 95 mm
Recommended workpiece weight *
①
3 kg

PGE Series
Opening/closing time 0.9 s/0.9 s
Repeat accuracy (position) ± 0.03 mm
Noise emission < 50 dB

PGSE Series
Weight 1 kg
Fz
Mz Driving method Screw drive + Linkage system
My
Size 184.6 mm x 162.3 mm x 67 mm

RGI Series
Mx

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②

RGD Series
Rated voltage 24 V DC ± 10%
Rated current 0.8 A
Static Vertical Allowable Load
Fz 300 N Peak current 1.5 A

PGI Series
Allowable Loading Moment IP class IP 54
Mx 4.75 N·m Recommended environment 0~40°C, under 85% RH
My 4.75 N·m Certification CE，FCC，RoHS

PGHL Series
Mz 4.75 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Plug & Self-locking
*② Use optional communication, need external communication Controller Adjustable Adjustable Adjustable Detection Play Mechanism

PGS Series
conversion box, please consult the sales staff for details

Technical Drawings

PGC Series
17.50
2- 3.20 THROUGH
5.8 Depth1.5 11
10 +0.02
3 0 Depth3.1
6
4.50

4.50
9.10

53.60 162.3
50.80 121 AG Series
21 119
109
17.50 95
Customize finger installation size
34
26

CG Series

3.50
4- 6.50 THROUGH
12.5 Depth4.2
184.6

EQUALLY SPACE
134.50

31.50
67
5

33.90

9.50
67 5
P.C.D. 50

93

Conform to ISO 9409-1-50-4-M6 Standard flange

- 46 -
 Parameters
AG-105-145 Product Parameter
Gripping force (per jaw) 35~105 N
Stroke 145 mm
Recommended workpiece weight *
①
2 kg
PGE Series

Opening/closing time 0.9 s/0.9 s

Repeat accuracy (position) ± 0.03 mm
Noise emission < 50 dB
PGSE Series

Weight 1.3 kg

Fz Driving method Screw drive + Linkage system

Mz

Size 203.9 mm x 212.3 mm x 67 mm

RGI Series

My

Mx
Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②
RGD Series

Rated voltage 24 V DC ± 10%

Rated current 0.8 A
Static Vertical Allowable Load
Fz Peak current 1.5 A
300 N
PGI Series

Allowable Loading Moment IP class IP 54

Mx 1.95 N·m Recommended environment 0~40°C, under 85% RH

My 1.95 N·m Certification CE, FCC, RoHS
PGHL Series

Mz 1.95 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Plug & Self-locking
*② Use optional communication, need external communication Controller Adjustable Adjustable Adjustable Detection Play Mechanism
PGS Series

conversion box, please consult the sales staff for details

Technical Drawings
PGC Series

17.50
2- 3.20 THROUGH
5.8 Depth1.5 11
10 +0.02
3 0 Depth3.1
6
4.50

4.50

212.3
9.10

50.80 171
21 169
159
AG Series

34

17.50 145
26

Customize finger installation size

203.90
CG Series

3.50
4- 6.50 THROUGH
12.5 Depth4.2
EQUALLY SPACE
134.50

31.50
67
5

33.90

67 9.50
5
P.C.D. 50

93

Conform to ISO 9409-1-50-4-M6 Standard flange

- 47 -
 Parameters
DH-3 Product Parameter
Gripping force (per jaw) 10~65 N
Stroke 106 mm（parallel）122 mm（centric)
Recommended workpiece weight * ① 1.8 kg

PGE Series
Opening/closing time 0.7 s/0.7 s
Repeat accuracy (position) ± 0.03 mm
Noise emission < 50 dB

PGSE Series
Mz
Fz Weight 1.68 kg
My Screw nut + gear drive
Driving method + linkage mechanism
Mx
Size 213.5 mm x 170 mm x 118 mm

RGI Series
Working Environment
Communication Standard: TCP/IP, USB2.0, CAN2.0A
interface Optional: EtherCAT* ②

RGD Series
Rated voltage 24 V DC ± 10%
Rated current 0.5 A
Static Vertical Allowable Load
Fz 150 N Peak current 1A

PGI Series
Allowable Loading Moment IP class IP 40
Mx 2.5 N·m Recommended environment 0~40°C, under 85% RH
My 2 N·m Certification CE，FCC，RoHS

PGHL Series
Mz 3 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Plug & Self-locking
*② Use optional communication, need external communication Controller Adjustable Adjustable Adjustable Detection Play Mechanism

PGS Series
conversion box, please consult the sales staff for details

Technical Drawings

PGC Series
4-Ø 6.5 Through
72.2
Ø12.5 Depth 4.2 3
EQUALLY SPACE

170 163
133
114 106
Ø 31.5
70

70

AG Series

P.C.D. Ø 50
4.5
213.5

Conform to ISO 9409-1-50-4-M6 Standard flange

CG Series
110
15

118 104

Finger rotate 90°

Finger rotate 0°

Finger rotate 30°

- 48 -
CG Series
Electric Centric Gripper
CGE-10-10
CGI-100-170
CGC-80-10

The CG series is a three-finger centric gripper independently developed by DH-Robotics. The three-finger
gripping method can better cope with the grasping task of cylindrical workpieces. The CG series is avail-
able in a variety of models for a variety of scenarios, stroke and end devices.

Installation
1. Front and rear installation: use front and rear screw holes for installation
2. Side installation: use side screw holes for installation
3. Bottom installation : use bottom screw holes for installation

Installation direction

Product Features
● High Performance ● Long Lifetime ● Overload Protection
Realize high-precision centering and Continuous and stable work above 10 The high-performance servo
grasping, the process structure meets millions times without maintenance. motor can provide instantaneous
the requirements of high rigidity, and overload protection
the energy density exceeds that of
similar products

Application
Accurate and stable grasping of cylindrical workpieces in the fields
of auto parts, automation equipment, precision machining and
assembly, etc.

- 49 -
 Parameters
CGE-10-10 Product Parameter
Gripping force (per jaw) 3~10 N
Stroke 10 mm
①
Recommended workpiece weight * 0.1 kg

PGE Series
Opening/closing time 0.3 s/0.3 s
Repeat accuracy (position) ± 0.03 mm

PGSE Series
Fz Noise emission < 40 dB
Mz
Weight 0.43 kg
My
Driving method Precise planetary gear reducer + Rack and pinion

Size 94 mm x 53.5 mm x 38 mm

RGI Series
Mx

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O

RGD Series
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②

Rated voltage 24 V DC ± 10%

Static Vertical Allowable Load
Fz 150 N Rated current 0.3 A
Peak current 0.6 A

PGI Series
Allowable Loading Moment
Mx 0.62 N·m Recommended environment 0~40°C, under 85% RH
My 0.62 N·m Certification CE, FCC, RoHS

PGHL Series
Mz 0.62 N·m

*① It depends on the shape of the grasping object, the material and

friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us.
Build-in Gripping Force Position Speed Drop Self-locking
Controller Adjustable Adjustable Adjustable Detection Mechanism
*② Use optional communication, need external communication

PGS Series
conversion box, please consult the sales staff for details

Technical Drawings
4-M4 Depth 6

PGC Series
4- 3.3 THROUGH
(Same on the opposite side)
+0.02
3.50

3 0 Depth 3.2
(Same on the opposite side)
30

AG Series
10 25
20 +0.02
3 0 Depth 3.2
(Same on the opposite side)
Cable allowable bending radius R50mm

M12*1
Secure at least 100mm

15
4-M4 Depth 6
CG Series

4- 3.3 THROUGH
(Same on the opposite side)
200

6.40 +0.02 +0.02

6-M3 Depth3.5 15.50
3 0 Depth 3.2 3 0 Depth 3.2
R36.50
11.70

8 (Same on the opposite side)

+0.02 4-M4 Depth 5
3- 3 0 Depth3.5 5
52.25
3.50
8
14
16.50

3.50

12
53.50
43
17
5

24
.9

R5
30.50

24

30.50

10 15 20
M2.5 Depth 3 20 11.50 30
6 Depth 3.2 24
+0.02
58 3 0 Depth 3.2 38
93 (Same on the opposite side)

- 50 -
 Parameters
CGI-100-170 Product Parameter
Gripping force (per jaw) 30~100 N
Recommended workpiece
diameter (inward) φ40~φ170 mm
①
Recommended workpiece weight * 1.5 kg
PGE Series

Opening/closing time 0.5 s/0.5 s

Repeat accuracy (position) ± 0.03 mm
PGSE Series

Noise emission < 50 dB

Weight 1.5 kg
Driving method Precise planetary gears + Rack and pinion

Size
RGI Series

158.4 mm x 124.35 mm x 116 mm(without brake/with brake, same size)

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *
②
RGD Series

Rated voltage 24 V DC ± 10%

Rated current 0.4 A
Peak current 1A
PGI Series

IP class IP 40
This type of gripper is recommended to use the standard finger.
If you need to replace it in the application, please contact us for
Recommended environment 0~40°C, under 85% RH
confirmation.
Certification CE, FCC, RoHS
PGHL Series

*① It depends on the shape of the grasping object, the material and

friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Self-locking
*② Use optional communication, need external communication Controller Adjustable Adjustable Adjustable Detection Mechanism
PGS Series

conversion box, please consult the sales staff for details

Technical Drawings
PGC Series

181.25

124.35
AG Series

30

15
M12*1 +0.02
2.50
3 0 Depth 3.2
4- 6.50 Through
CG Series

Cable allowable bending

Secure at least 100mm

12.5 Depth4.2
EQUALLY SPACE
rsdius R50mm

207
200

15.50
134 6.40
31.50

27.50
75

69

45°
75

P.C.D.φ50
+0.02
5 3
3.50

78.50 3 0 Depth 3.2

Conform to ISO 9409-1-50-4-M6 Standard flange

104

162 *If you need to customize the flange, it is recommended to design

according to the robot installation hole position, or contact us

- 51 -
 Parameters
CGC-80-10 Product Parameter
Gripping force (per jaw) 20~80 N
Single jaw 10 mm
①
Recommended workpiece weight * 1.5 kg

PGE Series
Opening/closing time 0.2 s/0.2 s
Repeat accuracy (position) ± 0.03 mm

PGSE Series
Noise emission < 50 dB
Weight 1.5 kg
Fz

My
Mz
Driving method Precise planetary gear reducer + Rack and pinion

Size 141 mm x 103 mm x 75 mm

RGI Series
Mx

Working Environment
Communication Standard: Modbus RTU (RS485), Digital I/O
interface Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②

RGD Series
Rated voltage 24 V DC ± 10%
Rated current 0.3 A
Static Vertical Allowable Load
200 N Peak current 1A
Fz

PGI Series
Allowable Loading Moment IP class IP 67

Mx 2.5 N·m Recommended environment 0~40°C, under 85% RH

My 2 N·m Certification CE, FCC, RoHS

PGHL Series
Mz 3 N·m
*① It depends on the shape of the grasping object, the material and
friction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us. Build-in Gripping Force Position Speed Drop Plug & Self-locking
*② Use optional communication, need external communication Controller Adjustable Adjustable Adjustable Detection Play Mechanism

PGS Series
conversion box, please consult the sales staff for details

Technical Drawings

PGC Series
2.50 +0.02
3 0 Depth 3.2
4- 6.50 Through
12.5 Depth4.2
EQUALLY SPACE
31.50

75

69

AG Series
45°
6.60

40

P.C.D.φ50
+0.02
5 3
3.50

3 0 Depth 3.2

Conform to ISO 9409-1-50-4-M6 Standard flange

*If you need to customize the flange, it is recommended to design
according to the robot installation hole position, or contact us
M12*1
15.50

15

CG Series
6.40

25

Ref.47
101

4-M3 Depth 3
3.74

22
5
5

+0.02
4- 3 0 Depth 3.2
103
195
Secure at least 100mm
0°

75
12

103 Cable allowable bending rsdius R50mm

MAX:12.75(open)
MIX:2.75(close)
40

Customize finger installation size

- 52 -
Honors and Certificates
‒ Some of Our Certificates

1 2 3 4

1. CE Ceritficate
2. IP Class Ceritficate
3. RoHS Ceritficate
4.EMC Ceritficate
5. FCC Ceritficate
6.Low Temperature
Test Report
7. Intellectual Property
Management System
Certification

5 6 7

- 53 -
Our Customers
More than 500 customers around the world are using DH-Robotics products
The number of customers continues to grow rapidly...

Our Eco-Partners
DH-Robotics is a high-quality partner of global collaborative robots

AUBO ELITE TECHMAN

HAN’S DOOSAN FANUC

HANWHA JAKA SIASUN

INDUSTRIAL
DOBOT UR ROBOTS

- 54 -
DH-ROBOTICS
is committed to provide first-class
core components of precision motion control.

- 55 -
DH-Robotics Technology Co.,Ltd.

Search DH-Robotics

en.dh-robotics.com
info@dh-robotics.com
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