{"parts":[{"path":"./inventory/7aa12de3-0038-54f6-a050-9559d99e8019/v1/","files":{"meta":"{\"format\":1,\"id\":\"7aa12de3-0038-54f6-a050-9559d99e8019\",\"version\":1,\"kind\":\"assembly\",\"slug\":\"robotis-rh-p12-rn\",\"name\":\"RH-P12-RN(A) Robot Hand\",\"summary\":\"ROBOTIS's RH-P12-RN(A), a two-finger robot hand with its own coreless motor, 1181:1 gearhead, absolute encoder and controller on an RS-485 bus at 24 V: 0 to 106 mm stroke, 170 N grip, 500 g. RH-P12-RN and RH-P12-RN(A) are the same hardware, told apart by firmware. Places the hand's body with both fingers open, each on an upper and a lower link that keep it upright as it swings, joined on their pivots as ROBOTIS draw them, so Simulation opens and closes a finger when it is dragged or its pivot driven. Each finger moves on its own: nothing yet couples the two through the hand's gears. The twelve M3 taps along the body's base take an FRP42-A110K adaptor's flanges.\",\"publisher\":\"ROBOTIS\",\"license\":\"LicenseRef-ROBOTIS-CAD\",\"keywords\":[\"robotis\",\"rh-p12-rn\",\"rh-p12-rna\",\"robot hand\",\"gripper\",\"end effector\",\"openmanipulator\",\"dynamixel\"],\"attributes\":{\"type\":\"robot hand\",\"stroke\":\"0-106 mm\",\"force\":\"170 N\",\"ratio\":\"1181:1\",\"voltage\":\"24 V\",\"interface\":\"RS-485\"},\"links\":[{\"url\":\"https://emanual.robotis.com/docs/en/platform/rh_p12_rna/\",\"kind\":\"guide\",\"title\":\"ROBOTIS e-manual\"},{\"url\":\"https://en.robotis.com/shop_en/item.php?it_id=905-0022-000\",\"kind\":\"product\",\"title\":\"ROBOTIS shop\"},{\"url\":\"https://en.robotis.com/service/downloadpage.php?ca_id=70\",\"kind\":\"production\",\"title\":\"ROBOTIS drawing centre (RH-P12-RN STEP, PDF, DWG)\"}],\"parameters\":[],\"tags\":[],\"related\":[\"62eea510-b884-5d93-ac3a-38e408960e11@1\",\"6f908139-78b2-5501-a512-36f5899e8852@1\"]}","assembly":"{\"members\":[{\"id\":\"body\",\"part\":\"1ddee6b7-048f-53b2-9c7d-de0d3aa32570@1\",\"parameters\":{},\"position\":[0,0,0],\"rotation\":[0,0,0]},{\"id\":\"lower-link\",\"part\":\"025d3855-b941-51d4-acea-587557966224@1\",\"parameters\":{},\"position\":[22.145443563705406,-1.1999999999999964,18.84110859619706],\"rotation\":[0,30.70274,0]},{\"id\":\"upper-link\",\"part\":\"0bf78c4f-bb80-5984-8ac5-9d6ba69be842@1\",\"parameters\":{},\"position\":[4.556906076780717,-1.1,46.022032134768004],\"rotation\":[0,60.123753,0]},{\"id\":\"finger\",\"part\":\"7d656802-ba1d-55d1-b85a-18f1bae32752@1\",\"parameters\":{},\"position\":[64.43087350857876,-1.1999999999999986,61.79393312375075],\"rotation\":[0,-0.004252,0]},{\"id\":\"upper-link-2\",\"part\":\"0bf78c4f-bb80-5984-8ac5-9d6ba69be842@1\",\"parameters\":{},\"position\":[-4.55690607678072,-1.3,46.02203213476801],\"rotation\":[0,-60.123753,180]},{\"id\":\"lower-link-mirrored\",\"part\":\"9079f6d5-931f-53f1-8f57-1fde5238c68f@1\",\"parameters\":{},\"position\":[-22.14544356370541,-1.1999999999999962,18.841108596197046],\"rotation\":[0,-30.70274,180]},{\"id\":\"finger-2\",\"part\":\"7d656802-ba1d-55d1-b85a-18f1bae32752@1\",\"parameters\":{},\"position\":[-64.43087350857874,-1.1999999999999984,61.79393312375076],\"rotation\":[0,0.004252,180]}],\"joints\":[{\"a\":{\"member\":\"body\",\"feature\":\"lower_r\"},\"b\":{\"member\":\"lower-link\",\"feature\":\"hub\"},\"kind\":\"cylindrical\"},{\"a\":{\"member\":\"upper-link\",\"feature\":\"hub\"},\"b\":{\"member\":\"body\",\"feature\":\"upper_r_1\"},\"kind\":\"cylindrical\"},{\"a\":{\"member\":\"upper-link\",\"feature\":\"hub\"},\"b\":{\"member\":\"body\",\"feature\":\"upper_r_2\"},\"kind\":\"cylindrical\"},{\"a\":{\"member\":\"upper-link-2\",\"feature\":\"hub\"},\"b\":{\"member\":\"body\",\"feature\":\"upper_l_1\"},\"kind\":\"cylindrical\"},{\"a\":{\"member\":\"upper-link-2\",\"feature\":\"hub\"},\"b\":{\"member\":\"body\",\"feature\":\"upper_l_2\"},\"kind\":\"cylindrical\"},{\"a\":{\"member\":\"body\",\"feature\":\"lower_l\"},\"b\":{\"member\":\"lower-link-mirrored\",\"feature\":\"hub\"},\"kind\":\"cylindrical\"},{\"a\":{\"member\":\"finger\",\"feature\":\"pin\"},\"b\":{\"member\":\"lower-link\",\"feature\":\"bush\"},\"kind\":\"cylindrical\"},{\"a\":{\"member\":\"finger-2\",\"feature\":\"pin\"},\"b\":{\"member\":\"lower-link-mirrored\",\"feature\":\"bush\"},\"kind\":\"cylindrical\"},{\"a\":{\"member\":\"upper-link\",\"feature\":\"pin\"},\"b\":{\"member\":\"finger\",\"feature\":\"bush\"},\"kind\":\"cylindrical\"},{\"a\":{\"member\":\"upper-link-2\",\"feature\":\"pin\"},\"b\":{\"member\":\"finger-2\",\"feature\":\"bush\"},\"kind\":\"cylindrical\"}]}"}}],"related":{"7aa12de3-0038-54f6-a050-9559d99e8019":[{"id":"62eea510-b884-5d93-ac3a-38e408960e11","version":1,"name":"DYNAMIXEL-P","publisher":"ROBOTIS","href":"/inventory/actuators/smart-servos/dynamixel-p"},{"id":"6f908139-78b2-5501-a512-36f5899e8852","version":1,"name":"FRP42-A110K Adaptor Frame","publisher":"ROBOTIS","href":"/inventory/mechanics/structure/brackets-joints/robotis-frp42-a110"}]},"categories":{"7aa12de3-0038-54f6-a050-9559d99e8019":"grippers"},"skuCategories":{},"componentPages":{},"families":[]}