Product details

DH-5-6

DH-5-6 灵巧手

Dexterous Hand

DH-Robotics Technology Co., Ltd.

DH-5-6

About this product

DH-5-6 is DH-Robotics' five-finger dexterous hand for coordinated robotic grasping and manipulation development. It combines six active degrees of freedom with 11 total degrees of freedom in a manufacturer-listed 790 g hand. The official specification gives a 0.8-second cycle time, 24 V operation and Modbus RTU or a proprietary RS485 protocol. Optional tactile arrays on the fingertips and palm add contact perception for adaptive gripping. The manufacturer separates a 25 N fingertip force from an 80 N five-finger gripping force and a 10 kg payload.

Model
DH-5-6
Category
Dexterous Hand

Specifications & evidence

Source-backed claims. Configuration, workload and evidence type matter when comparing products.

Active degrees of freedom

6

Manufacturer specification

Source section: DH-5-6 technical parameters, brochure pages 63–64

dh56-pdf
DH-5-6 L Hand Shape 6 5 DH Number of Fingers Active Degrees of Freedom 11 Degrees of Freedom N Wrist Interface M3 Cable Direction C0 Sensors L3 Cable Configuration Z0 Mounting Flange 6 Degrees of Freedom 11 Joint Left Hand L Right Hand R 3 Fingers 3 5 Fingers 5 Z3 Others Z2 With Adapter Flange 2 (Mounting PCD Ø49 mm / Locating Boss Ø18mm) Z1 With Adapter Flange 1 (Mounting PCD Ø50 mm / Locating Boss Ø31.5 mm) Z0 Standard Flange without Adapter N Standard interface F Quick-release interface M3 MODBUS-RTU M4 Custom communication protocol over RS485 Serie L5 L10 L3 Extension Cable 3m Extension Cable5m Extension Cable10m L1 Extension Cable 1m C0 Without Sensor 3.5 4- 3.4 贯穿 6 19.4 236 116 3.5 51 M8航插头 20 40 38 + 0.03 0 4-M5 8 96 对外接线端子 236 19.4 3.5 4- 3.4 贯穿 6 Working Environment Communication interface Rated voltage 24 V DC ± 10% 11 Total degrees of freedom 6 Active degree of freedom Product Parameter 0.8 s Working speed Four-finger bending angle Thumb bending angle Thumb lateral swing angle 83°+87° 85° 38°+7° 25 N 2 kg Single fingertip force Recommended maximum friction load 4 kg Recommended maximum structural lifting load Lifting load Weight Hand grip strength 80 N 10 kg Driving method 790 g Sensors Multi-point Tactile Sensing (Optional) Safety features Anti-collision Buffering for Inward Grasping Size 236 mm*116 mm*96 mm Modbus-RTU/Custom communication protocol over RS485

Communication interface

Modbus RTU / custom RS485 protocol

Manufacturer specification

Source section: DH-5-6 technical parameters, brochure pages 63–64

dh56-pdf
DH-5-6 L Hand Shape 6 5 DH Number of Fingers Active Degrees of Freedom 11 Degrees of Freedom N Wrist Interface M3 Cable Direction C0 Sensors L3 Cable Configuration Z0 Mounting Flange 6 Degrees of Freedom 11 Joint Left Hand L Right Hand R 3 Fingers 3 5 Fingers 5 Z3 Others Z2 With Adapter Flange 2 (Mounting PCD Ø49 mm / Locating Boss Ø18mm) Z1 With Adapter Flange 1 (Mounting PCD Ø50 mm / Locating Boss Ø31.5 mm) Z0 Standard Flange without Adapter N Standard interface F Quick-release interface M3 MODBUS-RTU M4 Custom communication protocol over RS485 Serie L5 L10 L3 Extension Cable 3m Extension Cable5m Extension Cable10m L1 Extension Cable 1m C0 Without Sensor 3.5 4- 3.4 贯穿 6 19.4 236 116 3.5 51 M8航插头 20 40 38 + 0.03 0 4-M5 8 96 对外接线端子 236 19.4 3.5 4- 3.4 贯穿 6 Working Environment Communication interface Rated voltage 24 V DC ± 10% 11 Total degrees of freedom 6 Active degree of freedom Product Parameter 0.8 s Working speed Four-finger bending angle Thumb bending angle Thumb lateral swing angle 83°+87° 85° 38°+7° 25 N 2 kg Single fingertip force Recommended maximum friction load 4 kg Recommended maximum structural lifting load Lifting load Weight Hand grip strength 80 N 10 kg Driving method 790 g Sensors Multi-point Tactile Sensing (Optional) Safety features Anti-collision Buffering for Inward Grasping Size 236 mm*116 mm*96 mm Modbus-RTU/Custom communication protocol over RS485

Degrees of freedom

11

Manufacturer specification

Source section: DH-5-6 technical parameters, brochure pages 63–64

dh56-pdf
DH-5-6 L Hand Shape 6 5 DH Number of Fingers Active Degrees of Freedom 11 Degrees of Freedom N Wrist Interface M3 Cable Direction C0 Sensors L3 Cable Configuration Z0 Mounting Flange 6 Degrees of Freedom 11 Joint Left Hand L Right Hand R 3 Fingers 3 5 Fingers 5 Z3 Others Z2 With Adapter Flange 2 (Mounting PCD Ø49 mm / Locating Boss Ø18mm) Z1 With Adapter Flange 1 (Mounting PCD Ø50 mm / Locating Boss Ø31.5 mm) Z0 Standard Flange without Adapter N Standard interface F Quick-release interface M3 MODBUS-RTU M4 Custom communication protocol over RS485 Serie L5 L10 L3 Extension Cable 3m Extension Cable5m Extension Cable10m L1 Extension Cable 1m C0 Without Sensor 3.5 4- 3.4 贯穿 6 19.4 236 116 3.5 51 M8航插头 20 40 38 + 0.03 0 4-M5 8 96 对外接线端子 236 19.4 3.5 4- 3.4 贯穿 6 Working Environment Communication interface Rated voltage 24 V DC ± 10% 11 Total degrees of freedom 6 Active degree of freedom Product Parameter 0.8 s Working speed Four-finger bending angle Thumb bending angle Thumb lateral swing angle 83°+87° 85° 38°+7° 25 N 2 kg Single fingertip force Recommended maximum friction load 4 kg Recommended maximum structural lifting load Lifting load Weight Hand grip strength 80 N 10 kg Driving method 790 g Sensors Multi-point Tactile Sensing (Optional) Safety features Anti-collision Buffering for Inward Grasping Size 236 mm*116 mm*96 mm Modbus-RTU/Custom communication protocol over RS485

Dimensions

236×116×96 mm

Manufacturer specification

Source section: DH-5-6 technical parameters, brochure pages 63–64

dh56-pdf
DH-5-6 L Hand Shape 6 5 DH Number of Fingers Active Degrees of Freedom 11 Degrees of Freedom N Wrist Interface M3 Cable Direction C0 Sensors L3 Cable Configuration Z0 Mounting Flange 6 Degrees of Freedom 11 Joint Left Hand L Right Hand R 3 Fingers 3 5 Fingers 5 Z3 Others Z2 With Adapter Flange 2 (Mounting PCD Ø49 mm / Locating Boss Ø18mm) Z1 With Adapter Flange 1 (Mounting PCD Ø50 mm / Locating Boss Ø31.5 mm) Z0 Standard Flange without Adapter N Standard interface F Quick-release interface M3 MODBUS-RTU M4 Custom communication protocol over RS485 Serie L5 L10 L3 Extension Cable 3m Extension Cable5m Extension Cable10m L1 Extension Cable 1m C0 Without Sensor 3.5 4- 3.4 贯穿 6 19.4 236 116 3.5 51 M8航插头 20 40 38 + 0.03 0 4-M5 8 96 对外接线端子 236 19.4 3.5 4- 3.4 贯穿 6 Working Environment Communication interface Rated voltage 24 V DC ± 10% 11 Total degrees of freedom 6 Active degree of freedom Product Parameter 0.8 s Working speed Four-finger bending angle Thumb bending angle Thumb lateral swing angle 83°+87° 85° 38°+7° 25 N 2 kg Single fingertip force Recommended maximum friction load 4 kg Recommended maximum structural lifting load Lifting load Weight Hand grip strength 80 N 10 kg Driving method 790 g Sensors Multi-point Tactile Sensing (Optional) Safety features Anti-collision Buffering for Inward Grasping Size 236 mm*116 mm*96 mm Modbus-RTU/Custom communication protocol over RS485

Fingertip force

25 N

Manufacturer specification

Source section: DH-5-6 technical parameters, brochure pages 63–64

dh56-pdf
DH-5-6 L Hand Shape 6 5 DH Number of Fingers Active Degrees of Freedom 11 Degrees of Freedom N Wrist Interface M3 Cable Direction C0 Sensors L3 Cable Configuration Z0 Mounting Flange 6 Degrees of Freedom 11 Joint Left Hand L Right Hand R 3 Fingers 3 5 Fingers 5 Z3 Others Z2 With Adapter Flange 2 (Mounting PCD Ø49 mm / Locating Boss Ø18mm) Z1 With Adapter Flange 1 (Mounting PCD Ø50 mm / Locating Boss Ø31.5 mm) Z0 Standard Flange without Adapter N Standard interface F Quick-release interface M3 MODBUS-RTU M4 Custom communication protocol over RS485 Serie L5 L10 L3 Extension Cable 3m Extension Cable5m Extension Cable10m L1 Extension Cable 1m C0 Without Sensor 3.5 4- 3.4 贯穿 6 19.4 236 116 3.5 51 M8航插头 20 40 38 + 0.03 0 4-M5 8 96 对外接线端子 236 19.4 3.5 4- 3.4 贯穿 6 Working Environment Communication interface Rated voltage 24 V DC ± 10% 11 Total degrees of freedom 6 Active degree of freedom Product Parameter 0.8 s Working speed Four-finger bending angle Thumb bending angle Thumb lateral swing angle 83°+87° 85° 38°+7° 25 N 2 kg Single fingertip force Recommended maximum friction load 4 kg Recommended maximum structural lifting load Lifting load Weight Hand grip strength 80 N 10 kg Driving method 790 g Sensors Multi-point Tactile Sensing (Optional) Safety features Anti-collision Buffering for Inward Grasping Size 236 mm*116 mm*96 mm Modbus-RTU/Custom communication protocol over RS485

Grasp force

80 N

Manufacturer specification

Source section: DH-5-6 technical parameters, brochure pages 63–64

dh56-pdf
DH-5-6 L Hand Shape 6 5 DH Number of Fingers Active Degrees of Freedom 11 Degrees of Freedom N Wrist Interface M3 Cable Direction C0 Sensors L3 Cable Configuration Z0 Mounting Flange 6 Degrees of Freedom 11 Joint Left Hand L Right Hand R 3 Fingers 3 5 Fingers 5 Z3 Others Z2 With Adapter Flange 2 (Mounting PCD Ø49 mm / Locating Boss Ø18mm) Z1 With Adapter Flange 1 (Mounting PCD Ø50 mm / Locating Boss Ø31.5 mm) Z0 Standard Flange without Adapter N Standard interface F Quick-release interface M3 MODBUS-RTU M4 Custom communication protocol over RS485 Serie L5 L10 L3 Extension Cable 3m Extension Cable5m Extension Cable10m L1 Extension Cable 1m C0 Without Sensor 3.5 4- 3.4 贯穿 6 19.4 236 116 3.5 51 M8航插头 20 40 38 + 0.03 0 4-M5 8 96 对外接线端子 236 19.4 3.5 4- 3.4 贯穿 6 Working Environment Communication interface Rated voltage 24 V DC ± 10% 11 Total degrees of freedom 6 Active degree of freedom Product Parameter 0.8 s Working speed Four-finger bending angle Thumb bending angle Thumb lateral swing angle 83°+87° 85° 38°+7° 25 N 2 kg Single fingertip force Recommended maximum friction load 4 kg Recommended maximum structural lifting load Lifting load Weight Hand grip strength 80 N 10 kg Driving method 790 g Sensors Multi-point Tactile Sensing (Optional) Safety features Anti-collision Buffering for Inward Grasping Size 236 mm*116 mm*96 mm Modbus-RTU/Custom communication protocol over RS485

Lifting payload

10 kg

Manufacturer specification

Source section: DH-5-6 technical parameters, brochure pages 63–64

dh56-pdf
DH-5-6 L Hand Shape 6 5 DH Number of Fingers Active Degrees of Freedom 11 Degrees of Freedom N Wrist Interface M3 Cable Direction C0 Sensors L3 Cable Configuration Z0 Mounting Flange 6 Degrees of Freedom 11 Joint Left Hand L Right Hand R 3 Fingers 3 5 Fingers 5 Z3 Others Z2 With Adapter Flange 2 (Mounting PCD Ø49 mm / Locating Boss Ø18mm) Z1 With Adapter Flange 1 (Mounting PCD Ø50 mm / Locating Boss Ø31.5 mm) Z0 Standard Flange without Adapter N Standard interface F Quick-release interface M3 MODBUS-RTU M4 Custom communication protocol over RS485 Serie L5 L10 L3 Extension Cable 3m Extension Cable5m Extension Cable10m L1 Extension Cable 1m C0 Without Sensor 3.5 4- 3.4 贯穿 6 19.4 236 116 3.5 51 M8航插头 20 40 38 + 0.03 0 4-M5 8 96 对外接线端子 236 19.4 3.5 4- 3.4 贯穿 6 Working Environment Communication interface Rated voltage 24 V DC ± 10% 11 Total degrees of freedom 6 Active degree of freedom Product Parameter 0.8 s Working speed Four-finger bending angle Thumb bending angle Thumb lateral swing angle 83°+87° 85° 38°+7° 25 N 2 kg Single fingertip force Recommended maximum friction load 4 kg Recommended maximum structural lifting load Lifting load Weight Hand grip strength 80 N 10 kg Driving method 790 g Sensors Multi-point Tactile Sensing (Optional) Safety features Anti-collision Buffering for Inward Grasping Size 236 mm*116 mm*96 mm Modbus-RTU/Custom communication protocol over RS485

Mass

790 g

Manufacturer specification

Source section: DH-5-6 technical parameters, brochure pages 63–64

dh56-pdf
DH-5-6 L Hand Shape 6 5 DH Number of Fingers Active Degrees of Freedom 11 Degrees of Freedom N Wrist Interface M3 Cable Direction C0 Sensors L3 Cable Configuration Z0 Mounting Flange 6 Degrees of Freedom 11 Joint Left Hand L Right Hand R 3 Fingers 3 5 Fingers 5 Z3 Others Z2 With Adapter Flange 2 (Mounting PCD Ø49 mm / Locating Boss Ø18mm) Z1 With Adapter Flange 1 (Mounting PCD Ø50 mm / Locating Boss Ø31.5 mm) Z0 Standard Flange without Adapter N Standard interface F Quick-release interface M3 MODBUS-RTU M4 Custom communication protocol over RS485 Serie L5 L10 L3 Extension Cable 3m Extension Cable5m Extension Cable10m L1 Extension Cable 1m C0 Without Sensor 3.5 4- 3.4 贯穿 6 19.4 236 116 3.5 51 M8航插头 20 40 38 + 0.03 0 4-M5 8 96 对外接线端子 236 19.4 3.5 4- 3.4 贯穿 6 Working Environment Communication interface Rated voltage 24 V DC ± 10% 11 Total degrees of freedom 6 Active degree of freedom Product Parameter 0.8 s Working speed Four-finger bending angle Thumb bending angle Thumb lateral swing angle 83°+87° 85° 38°+7° 25 N 2 kg Single fingertip force Recommended maximum friction load 4 kg Recommended maximum structural lifting load Lifting load Weight Hand grip strength 80 N 10 kg Driving method 790 g Sensors Multi-point Tactile Sensing (Optional) Safety features Anti-collision Buffering for Inward Grasping Size 236 mm*116 mm*96 mm Modbus-RTU/Custom communication protocol over RS485

Operating voltage

24 V DC ±10%

Manufacturer specification

Source section: DH-5-6 technical parameters, brochure pages 63–64

dh56-pdf
DH-5-6 L Hand Shape 6 5 DH Number of Fingers Active Degrees of Freedom 11 Degrees of Freedom N Wrist Interface M3 Cable Direction C0 Sensors L3 Cable Configuration Z0 Mounting Flange 6 Degrees of Freedom 11 Joint Left Hand L Right Hand R 3 Fingers 3 5 Fingers 5 Z3 Others Z2 With Adapter Flange 2 (Mounting PCD Ø49 mm / Locating Boss Ø18mm) Z1 With Adapter Flange 1 (Mounting PCD Ø50 mm / Locating Boss Ø31.5 mm) Z0 Standard Flange without Adapter N Standard interface F Quick-release interface M3 MODBUS-RTU M4 Custom communication protocol over RS485 Serie L5 L10 L3 Extension Cable 3m Extension Cable5m Extension Cable10m L1 Extension Cable 1m C0 Without Sensor 3.5 4- 3.4 贯穿 6 19.4 236 116 3.5 51 M8航插头 20 40 38 + 0.03 0 4-M5 8 96 对外接线端子 236 19.4 3.5 4- 3.4 贯穿 6 Working Environment Communication interface Rated voltage 24 V DC ± 10% 11 Total degrees of freedom 6 Active degree of freedom Product Parameter 0.8 s Working speed Four-finger bending angle Thumb bending angle Thumb lateral swing angle 83°+87° 85° 38°+7° 25 N 2 kg Single fingertip force Recommended maximum friction load 4 kg Recommended maximum structural lifting load Lifting load Weight Hand grip strength 80 N 10 kg Driving method 790 g Sensors Multi-point Tactile Sensing (Optional) Safety features Anti-collision Buffering for Inward Grasping Size 236 mm*116 mm*96 mm Modbus-RTU/Custom communication protocol over RS485

Recommended friction payload

2 kg

Manufacturer specification

Source section: DH-5-6 technical parameters, brochure pages 63–64

dh56-pdf
DH-5-6 L Hand Shape 6 5 DH Number of Fingers Active Degrees of Freedom 11 Degrees of Freedom N Wrist Interface M3 Cable Direction C0 Sensors L3 Cable Configuration Z0 Mounting Flange 6 Degrees of Freedom 11 Joint Left Hand L Right Hand R 3 Fingers 3 5 Fingers 5 Z3 Others Z2 With Adapter Flange 2 (Mounting PCD Ø49 mm / Locating Boss Ø18mm) Z1 With Adapter Flange 1 (Mounting PCD Ø50 mm / Locating Boss Ø31.5 mm) Z0 Standard Flange without Adapter N Standard interface F Quick-release interface M3 MODBUS-RTU M4 Custom communication protocol over RS485 Serie L5 L10 L3 Extension Cable 3m Extension Cable5m Extension Cable10m L1 Extension Cable 1m C0 Without Sensor 3.5 4- 3.4 贯穿 6 19.4 236 116 3.5 51 M8航插头 20 40 38 + 0.03 0 4-M5 8 96 对外接线端子 236 19.4 3.5 4- 3.4 贯穿 6 Working Environment Communication interface Rated voltage 24 V DC ± 10% 11 Total degrees of freedom 6 Active degree of freedom Product Parameter 0.8 s Working speed Four-finger bending angle Thumb bending angle Thumb lateral swing angle 83°+87° 85° 38°+7° 25 N 2 kg Single fingertip force Recommended maximum friction load 4 kg Recommended maximum structural lifting load Lifting load Weight Hand grip strength 80 N 10 kg Driving method 790 g Sensors Multi-point Tactile Sensing (Optional) Safety features Anti-collision Buffering for Inward Grasping Size 236 mm*116 mm*96 mm Modbus-RTU/Custom communication protocol over RS485

Recommended structural lifting payload

4 kg

Manufacturer specification

Source section: DH-5-6 technical parameters, brochure pages 63–64

dh56-pdf
DH-5-6 L Hand Shape 6 5 DH Number of Fingers Active Degrees of Freedom 11 Degrees of Freedom N Wrist Interface M3 Cable Direction C0 Sensors L3 Cable Configuration Z0 Mounting Flange 6 Degrees of Freedom 11 Joint Left Hand L Right Hand R 3 Fingers 3 5 Fingers 5 Z3 Others Z2 With Adapter Flange 2 (Mounting PCD Ø49 mm / Locating Boss Ø18mm) Z1 With Adapter Flange 1 (Mounting PCD Ø50 mm / Locating Boss Ø31.5 mm) Z0 Standard Flange without Adapter N Standard interface F Quick-release interface M3 MODBUS-RTU M4 Custom communication protocol over RS485 Serie L5 L10 L3 Extension Cable 3m Extension Cable5m Extension Cable10m L1 Extension Cable 1m C0 Without Sensor 3.5 4- 3.4 贯穿 6 19.4 236 116 3.5 51 M8航插头 20 40 38 + 0.03 0 4-M5 8 96 对外接线端子 236 19.4 3.5 4- 3.4 贯穿 6 Working Environment Communication interface Rated voltage 24 V DC ± 10% 11 Total degrees of freedom 6 Active degree of freedom Product Parameter 0.8 s Working speed Four-finger bending angle Thumb bending angle Thumb lateral swing angle 83°+87° 85° 38°+7° 25 N 2 kg Single fingertip force Recommended maximum friction load 4 kg Recommended maximum structural lifting load Lifting load Weight Hand grip strength 80 N 10 kg Driving method 790 g Sensors Multi-point Tactile Sensing (Optional) Safety features Anti-collision Buffering for Inward Grasping Size 236 mm*116 mm*96 mm Modbus-RTU/Custom communication protocol over RS485

Safety features

Anti-collision buffering for inward grasping

Manufacturer specification

Source section: DH-5-6 technical parameters, brochure pages 63–64

dh56-pdf
DH-5-6 L Hand Shape 6 5 DH Number of Fingers Active Degrees of Freedom 11 Degrees of Freedom N Wrist Interface M3 Cable Direction C0 Sensors L3 Cable Configuration Z0 Mounting Flange 6 Degrees of Freedom 11 Joint Left Hand L Right Hand R 3 Fingers 3 5 Fingers 5 Z3 Others Z2 With Adapter Flange 2 (Mounting PCD Ø49 mm / Locating Boss Ø18mm) Z1 With Adapter Flange 1 (Mounting PCD Ø50 mm / Locating Boss Ø31.5 mm) Z0 Standard Flange without Adapter N Standard interface F Quick-release interface M3 MODBUS-RTU M4 Custom communication protocol over RS485 Serie L5 L10 L3 Extension Cable 3m Extension Cable5m Extension Cable10m L1 Extension Cable 1m C0 Without Sensor 3.5 4- 3.4 贯穿 6 19.4 236 116 3.5 51 M8航插头 20 40 38 + 0.03 0 4-M5 8 96 对外接线端子 236 19.4 3.5 4- 3.4 贯穿 6 Working Environment Communication interface Rated voltage 24 V DC ± 10% 11 Total degrees of freedom 6 Active degree of freedom Product Parameter 0.8 s Working speed Four-finger bending angle Thumb bending angle Thumb lateral swing angle 83°+87° 85° 38°+7° 25 N 2 kg Single fingertip force Recommended maximum friction load 4 kg Recommended maximum structural lifting load Lifting load Weight Hand grip strength 80 N 10 kg Driving method 790 g Sensors Multi-point Tactile Sensing (Optional) Safety features Anti-collision Buffering for Inward Grasping Size 236 mm*116 mm*96 mm Modbus-RTU/Custom communication protocol over RS485

Tactile sensing

Optional multipoint tactile sensing

Manufacturer specification

Source section: DH-5-6 technical parameters, brochure pages 63–64

dh56-pdf
DH-5-6 L Hand Shape 6 5 DH Number of Fingers Active Degrees of Freedom 11 Degrees of Freedom N Wrist Interface M3 Cable Direction C0 Sensors L3 Cable Configuration Z0 Mounting Flange 6 Degrees of Freedom 11 Joint Left Hand L Right Hand R 3 Fingers 3 5 Fingers 5 Z3 Others Z2 With Adapter Flange 2 (Mounting PCD Ø49 mm / Locating Boss Ø18mm) Z1 With Adapter Flange 1 (Mounting PCD Ø50 mm / Locating Boss Ø31.5 mm) Z0 Standard Flange without Adapter N Standard interface F Quick-release interface M3 MODBUS-RTU M4 Custom communication protocol over RS485 Serie L5 L10 L3 Extension Cable 3m Extension Cable5m Extension Cable10m L1 Extension Cable 1m C0 Without Sensor 3.5 4- 3.4 贯穿 6 19.4 236 116 3.5 51 M8航插头 20 40 38 + 0.03 0 4-M5 8 96 对外接线端子 236 19.4 3.5 4- 3.4 贯穿 6 Working Environment Communication interface Rated voltage 24 V DC ± 10% 11 Total degrees of freedom 6 Active degree of freedom Product Parameter 0.8 s Working speed Four-finger bending angle Thumb bending angle Thumb lateral swing angle 83°+87° 85° 38°+7° 25 N 2 kg Single fingertip force Recommended maximum friction load 4 kg Recommended maximum structural lifting load Lifting load Weight Hand grip strength 80 N 10 kg Driving method 790 g Sensors Multi-point Tactile Sensing (Optional) Safety features Anti-collision Buffering for Inward Grasping Size 236 mm*116 mm*96 mm Modbus-RTU/Custom communication protocol over RS485

Working speed

0.8 s

Manufacturer specification

Source section: DH-5-6 technical parameters, brochure pages 63–64

dh56-pdf
DH-5-6 L Hand Shape 6 5 DH Number of Fingers Active Degrees of Freedom 11 Degrees of Freedom N Wrist Interface M3 Cable Direction C0 Sensors L3 Cable Configuration Z0 Mounting Flange 6 Degrees of Freedom 11 Joint Left Hand L Right Hand R 3 Fingers 3 5 Fingers 5 Z3 Others Z2 With Adapter Flange 2 (Mounting PCD Ø49 mm / Locating Boss Ø18mm) Z1 With Adapter Flange 1 (Mounting PCD Ø50 mm / Locating Boss Ø31.5 mm) Z0 Standard Flange without Adapter N Standard interface F Quick-release interface M3 MODBUS-RTU M4 Custom communication protocol over RS485 Serie L5 L10 L3 Extension Cable 3m Extension Cable5m Extension Cable10m L1 Extension Cable 1m C0 Without Sensor 3.5 4- 3.4 贯穿 6 19.4 236 116 3.5 51 M8航插头 20 40 38 + 0.03 0 4-M5 8 96 对外接线端子 236 19.4 3.5 4- 3.4 贯穿 6 Working Environment Communication interface Rated voltage 24 V DC ± 10% 11 Total degrees of freedom 6 Active degree of freedom Product Parameter 0.8 s Working speed Four-finger bending angle Thumb bending angle Thumb lateral swing angle 83°+87° 85° 38°+7° 25 N 2 kg Single fingertip force Recommended maximum friction load 4 kg Recommended maximum structural lifting load Lifting load Weight Hand grip strength 80 N 10 kg Driving method 790 g Sensors Multi-point Tactile Sensing (Optional) Safety features Anti-collision Buffering for Inward Grasping Size 236 mm*116 mm*96 mm Modbus-RTU/Custom communication protocol over RS485

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