Seeed reBot Arm B601-DM Gripper Kit
The reBot Arm B601-DM Gripper Kit is the complete gripper set for the 6-DoF open-source robotic arm reBot Arm B601-DM by Seeed Studio. It contains all the components - mechanics, drive and wiring - required to assemble and operate the parallel gripper, and can be installed and commissioned directly by following the official documentation.
The gripper is driven by a DAMIAO 4310 joint motor - an integrated brushless servo joint motor with built-in driver, dual encoder and planetary gearbox. The mechanical interface is precisely designed to match the output shaft of DAMIAO 4310 motors, so the gripper can be used directly on the reBot Arm B601-DM or on other compatible platforms using this motor family.
As with the rest of the reBot Arm B601, the Gripper Kit is part of a fully open-source project: CAD and STEP files, BOM down to the screw level, plus Python SDK and integrations for ROS 1/2, MoveIt, Pinocchio, Hugging Face LeRobot and NVIDIA Isaac Sim are freely available under Creative Commons (CC BY-NC-SA 4.0). The gripper supports MIT mode (simultaneous position, velocity and torque commands in a single CAN packet), making it suitable for fine, force-controlled grasping tasks in embodied AI applications.
Note: The Gripper Kit is designed as an add-on to the reBot Arm B601-DM. To build a complete robotic arm, the Body Motor Kit and the Body Structure Kit are also required - or alternatively the pre-assembled reBot Arm B601-DM Assembled Kit with Gripper.
Highlights
- Complete gripper set for the reBot Arm B601-DM (mechanics + motor + wiring)
- Driven by a DAMIAO DM-J4310 joint motor with integrated driver and dual encoder
- Direct mounting onto the output shaft of DAMIAO 4310 motors
- Compatible with the reBot Arm B601-DM and other platforms using DAMIAO 4310
- CAN bus communication with MIT mode (position, velocity, torque in a single packet)
- Fully open source: CAD, STEP and BOM files, plus Python SDK on GitHub
- Suitable for embodied AI research, teleoperation, imitation learning and reinforcement learning
Technical Specifications
- Type: parallel gripper (1 DoF)
- Drive: DAMIAO DM-J4310-2EC joint motor (integrated driver, gearbox, dual encoder)
- Peak motor torque: approx. 7 Nm
- Encoder: dual encoder, absolute single-turn position at the output shaft
- Operating modes: MIT mode, position, velocity
- Communication: CAN bus up to 1 Mbps
- Power supply: 24 V (DAMIAO 24 V variant)
- Connectors: XT30 (2+2) for power and CAN, GH 1.25 (3-pin) for debug serial
- Mechanical materials: CNC-machined aluminium parts combined with 3D-printed components (ABS / PLA)
- Interface: precise mounting onto the output shaft of a DAMIAO 4310 motor
- Software stack: Python SDK, ROS 1, ROS 2 (Humble), MoveIt, Pinocchio, LeRobot, NVIDIA Isaac Sim
- Hardware open-source licence: CC BY-NC-SA 4.0
Scope of Delivery
- 1 × DAMIAO DM-J4310-2EC joint motor (gripper drive)
- Mechanical structural parts of the gripper (CNC aluminium and 3D-printed parts)
- Gripper jaws
- XT30 cables and wiring harnesses for power and CAN
- Screws, pins and small parts according to the official BOM
- Access to the official assembly guide on the Seeed Wiki and to the Python SDK
Not included (required separately)
- reBot Arm B601-DM (Body Motor Kit + Body Structure Kit) or another robotic arm with DAMIAO 4310 interface
- USB-CAN driver board (included in the Body Motor Kit)
- 24 V power supply
- Host computer (PC or NVIDIA Jetson) to run the SDK / ROS stack
