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 withcollabrative 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
Adaptive Capture
The gripper linkage mechanism
supports envelope adaptivegrasping, which is more stable togrip round, spherical orspecial-shaped objects.

● Plug & Play● Long Stroke

It supports plug & play with mostcollaborative robot brands on themarket which is easier to controland program.

The biggest stroke of the AG series isup to 145 mm. One gripper can meetthe grasping needs of objects ofdiﬀerent sizes with good compatibility.

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

ParametersAG-160-95

Product Parameter
Gripping force (per jaw)45~160 N

Stroke95 mm

Recommended workpiece weight *3 kg①Opening/closing time

0.7 s/0.7 s± 0.03 mm

Noise emission< 50 dB
1 kg

WeightMz
My

Driving method

Screw drive + Linkage system

Size

184.6 mm x 162.3 mm x 67 mm

RGI Series

Fz

PGE Series

Repeat accuracy (position)

Mx

Working Environment
Standard: Modbus RTU (RS485), Digital I/O
Optional: TCP/IP, USB2.0, CAN2.0A, PROFINET, EtherCAT *②24 V DC ± 10%

Rated current

0.8 A

Peak current

1.5 A

Allowable Loading Moment

IP class

IP 54Mx

4.75 N·m

Recommended environment

My4.75 N·m

CertiﬁcationMz

4.75 N·m

Static Vertical Allowable LoadFz

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

CE，FCC，RoHS

Build-inGripping Force

Position

SpeedDrop

Plug &Self-locking

Controller

Adjustable

Adjustable

Adjustable

Detection

PlayMechanism

PGC Series

Technical Drawings
17.50

2-10

3.20 THROUGH
5.8 Depth1.5

11+0.02
3 0Depth3.1

162.3

50.80

121119
10995

4.50

3.50

6.50 THROUGH12.5 Depth4.2
EQUALLY SPACE

67

33.90

567

134.50184.64-9.50

5P.C.D.

50

93

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

CG Series

26

9.10

Customize ﬁnger installation size

34

17.50

31.50

53.60

AG Series

4.50

621

PGS Series*① It depends on the shape of the grasping object, the material andfriction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us.

0~40°C, under 85% RH

PGI Series

Rated voltage

RGD Series

Communicationinterface

Parameters

AG-105-145

Product Parameter
Gripping force (per jaw)

35~105 N

Stroke145 mmRecommended workpiece weight *2 kg①0.7 s/0.7 sFz

Mz
MyMx

< 50 dB

Weight

1.3 kgDriving method

Screw drive + Linkage system

Size

203.9 mm x 212.3 mm x 67 mm

Communicationinterface

RGD Series
PGI Series
PGS Series

Noise emission

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

Rated voltage

24 V DC ± 10%

Rated current

0.8 A

Peak current

1.5 A

Allowable Loading Moment

IP class

IP 54

Mx

1.95 N·mRecommended environment

My1.95 N·m

CertiﬁcationMz

1.95 N·m

Static Vertical Allowable LoadFz

300 N*① It depends on the shape of the grasping object, the material andfriction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us.
*② Use optional communication, need external communication
conversion box, please consult the sales staﬀ for details

PGC Series± 0.03 mm

Repeat accuracy (position)

0~40°C, under 85% RH
CE, FCC, RoHS

Build-inGripping Force

Position

SpeedDrop

Plug &Self-locking

ControllerAdjustable

Adjustable

Adjustable

Detection

PlayMechanism

Technical Drawings
17.50

2-10

3.20 THROUGH
5.8 Depth1.5

11+0.02
3 0
Depth3.1

3.50

6.50 THROUGH
12.5 Depth4.2
EQUALLY SPACE

67

134.504-33.90567

4.50

Customize ﬁnger installation size

203.90

CG Series

9.10

4.50

212.3
171
169
159
145

3450.802117.50
26AG Series

631.50RGI Series

PGE Series

Opening/closing time

9.50
5P.C.D.

50

93

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

Parameters

DH-3

Product Parameter
Gripping force (per jaw)
Stroke10~65 N106 mm（parallel）122 mm（centric)
1.8 kgRecommended workpiece weight * ①
Opening/closing time

0.7 s/0.7 s± 0.03 mm

Noise emission
Mz< 50 dB
1.68 kg

WeightFz

PGE Series

Repeat accuracy (position)

Driving method

Mx

Size

Screw nut + gear drive+ linkage mechanism

213.5 mm x 170 mm x 118 mm

RGI Series

My

Working Environment

Static Vertical Allowable Load
150 N

Rated voltage

24 V DC ± 10%

Rated current

0.5 A

Peak current

1A
IP 40

Allowable Loading Moment

IP class

Mx

2.5 N·m

Recommended environment

My2 N·mMz

3 N·m

0~40°C, under 85% RH
CE，FCC，RoHS

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

Build-inGripping Force

Position

Speed

Drop

Plug &Self-locking

Controller

Adjustable

Adjustable

Adjustable

Detection

Play

Mechanism

PGS Series*① It depends on the shape of the grasping object, the material andfriction of the contact surface,and the acceleration of the motion, If you
have any questions, please contact us.

PGI Series

Fz

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

Communicationinterface

PGC Series

Technical Drawings
72.24-Ø 6.5 Through3

Ø12.5 Depth 4.2

7070

AG Series

163
133
106

170114

Ø 31.5EQUALLY SPACE

P.C.D. Ø 50

15110

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

118

104
Finger rotate 90°
Finger rotate 0°

Finger rotate 30°

CG Series

213.5

4.5