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PyDHgripper is a Python library that allows you to control the DH gripper with Python. The DH grippers are a series of robot grippers which is widely used in grasping tasks. This library is based on the Modbus protocol, and the support types of DH gripper includes AG-95, DH-3, RGD, and PGE series.

• DH gripper
• USB-to-RS485 converter
• 24V DC power supply

Here is a connection example for AG-95 gripper

The pyDHgripper library supports Python 2.x and Python 3.x. You can install the library using the following command:

pip install pydhgripper

Or you can install the library from the source code:

git clone https://github.com/han-xudong/pyDHgripper.git
cd pyDHgripper
pip install pip -U
pip install -r requirements.txt

For Linux, it's needed to set the serial port permission first:

sudo chmod 777 /dev/ttyUSB0
# For CTS-B1.0,
# sudo chmod 777 /dev/ttyACM0
sudo usermod -aG dialout {userName}
reboot

Several types of DH grippers can be controlled with pyDHgripper. For example, to control the AG-95 gripper:

from pydhgripper import AG95

gripper = AG95(port='/dev/ttyUSB0')

And here are some functions that can be used to control the gripper:

• read_state: Read the state of the gripper.

gripper.read_state()

• read_pos: Read the position of the gripper.

gripper.read_pos()

• set_force: Set the force of the gripper.

gripper.set_force(val='{FORCE}')

• set_pos: Set the position of the gripper.

gripper.set_pos(val='{POSITION}')

• set_vel: Set the velocity of the gripper.

gripper.set_vel(val='{VELOCITY}')

For more functions, please refer to the source code.

Here pyDHgripper provide user manuals for the DH grippers, including AG-95, DH-3, RGD, and PGE series.

AG Gripper Short Manual (Modbus-RTU)

DH-3 Short Manual

PGE Series Product Operation Manual

PyDHgripper is licensed under the MIT License.

Some core codes are developed based on DaHuan-FingerControl by Frank.

The DH grippers are developed by DH Robotics. For more information, please refer to the DH Robotics website.