Open-source robot grippers and hands
End effectors you can build: parallel grippers, underactuated hands and dexterous multi-finger hands.
The atlas lists 11 open-source grippers and robot hands. 6 publish a URDF or MJCF model for simulation. 8 publish a build cost; the US-dollar figures run from $316 for Aero Hand Open (one hand, all BOM.csv rows (printed parts, silicone, hardware, 7 servos, TTLinker, XIAO ESP32-S3); excludes 6V 10A supply and optional PCB) to $2.4k for ORCA Hand (ORCA v1 legacy Dynamixel BOM incl. 210 USD shipping; v1 is no longer produced). 6 carry a hardware license that permits commercial use, and 4 are licensed for non-commercial use only. The most-starred source repository here is Amazing Hand's, with 2.4k GitHub stars.
Compare the grippers and robot hands
Sorted by reproducibility score. A cost is the figure the source publishes, in its own currency, with its basis and what it covers.
| Robot | Cost | DoF | Hardware license | Sim model | Score |
|---|---|---|---|---|---|
| SSG-48 Adaptive Electric GripperGripper | €774vendor kit, fully assembled SSG-48 gripper, store list price | 1 | Apache-2.0Commercial use OK | URDF | 89 |
| ORCA HandDexterous hand | $2.4ksource total, ORCA v1 legacy Dynamixel BOM incl. 210 USD shipping; v1 is no longer produced | 17 | CC-BY-4.0Commercial use OK | URDF, MJCF | 73 |
| Aero Hand OpenDexterous hand | $316source total, one hand, all BOM.csv rows (printed parts, silicone, hardware, 7 servos, TTLinker, XIAO ESP32-S3); excludes 6V 10A supply and optional PCB | 7 | CC-BY-NC-SA-4.0Non-commercial | URDF, Onshape | 70 |
| Amazing HandDexterous hand | €128source total, one hand with the Waveshare serial bus driver, incl. 15 EUR printed parts; excludes the 5V supply | 8 | CC-BY-4.0Commercial use OK | MJCF, Onshape | 70 |
| Actuated UMI GripperGripper | not published | 1 | MITCommercial use OK | none published | 68 |
| Yale OpenHand ProjectDexterous hand | not published | 4 | CC-BY-NC-3.0Non-commercial | none published | 65 |
| LEAP HandDexterous hand | $1.8ksource total, regular v1 hand, parts page as of Aug 2023 | 16 | CC-BY-NC-4.0Non-commercial | URDF | 63 |
| RUKA HandDexterous hand | $520source total, one hand, XL330-M288-T version, without tools, BOM as of 2024-12-19 | 11 | No license stated for the printable partsUnknown or unclear | MJCF, Onshape | 63 |
| PincOpenParallel gripper | €26source total, standalone gripper: 11 PLA printed parts, Feetech STS3215, servo control board, pins, plain bearings, screws, M3 inserts | 1 | CC-BY-SA-4.0Commercial use OK | Onshape | 60 |
| ALARIS HandRobot handDormant | $478source total, prototype manufacturing estimate per paper Table II, excluding embedded systems | 6 | GPL-3.0Commercial use OK | none published | 50 |
| DexHand V1.0Dexterous hand + forearmDormant | not published | 19 | CC-BY-NC-SA-4.0Non-commercial | Onshape | 38 |
Grippers and hands in 3D
Renders come from each project's own source files; a card says so when there is no model yet.
Side-by-side comparisons
Cost, DoF, actuators, simulation models, license and every score criterion, with the robots drawn to scale. Pick your own with the Compare button on each card.
Parts these grippers and robot hands use
From the robots' bills of materials: how many of the robots above list each part.