Pinc'Open
A two-finger parallel gripper with 3D-printable custom parts and an interchangeable tip.
Project documentation
Before you build
Five answers, each linked to its source
What does it cost?
About €25standalone PincOpen gripper BOM
The standalone PincOpen gripper BOM is about €25. README
Can I sell what I build?
Yes, with creditCommercial use OK, with credit
Hardware CC BY-SA 4.0 · Software CC-BY-SA-4.0. Licensing source
What’s open?
3 of 6CAD: AvailableBOM: AvailablePCB: Not documentedCode: PartialSim: Not documentedGuide: Available
Code partial · PCB, sim not documented. All six files
Is it maintained?
Not documented
No activity snapshot yet. Activity
01 / Under the shell
The specifications.
Hardware, build and software on one sheet. Every fact links to where we found it.
Pinc'Open is a two-finger parallel gripper derived from Reachy 2's gripper. Its design focuses on 3D-printable custom mechanical parts and a Feetech STS3215 motor. The tip is interchangeable. The project provides STL and STEP files, a public Onshape document, and an assembly guide.
Hardware
- Actuators
- Not documented Documentation
- Build
- 3D-printed · printable parts in the repository Documentation
- Gripper type
- Two parallel fingers README
Building it
Software & simulation
02 / The files behind the robot
What’s open.
Six parts of the build, each checked separately. Gaps stay visible.
| Part | Status | What’s there | License | Source |
|---|---|---|---|---|
| CAD | Available | STL and STEP files, plus a public Onshape document. | Not documented | cad/ |
| Bill of materials | Available | The list of all needed components is available in the PincOpen BOM. | Not documented | docs.google.com |
| Electronics | Not documented | Not documented | Not documented | No source found |
| Code | Partial | Motor configuration instructions and a linked flash-and-test notebook. | Not documented | flash_and_tests/ |
| Simulation model | Not documented | Not documented | Not documented | No source found |
| Assembly guide | Available | Assembly guide provided as a PDF. | Not documented | PincOpen_Assembly_Instructions.pdf |
03 / Know before you build
Can you sell it?
Yes, with creditCommercial use OK, with credit
The whole repository, design files included, is CC BY-SA 4.0. Commercial use is allowed if you credit the maker and keep the license notices. Changes you distribute must be shared under the same license.
- Hardware
- CC BY-SA 4.0
- Software
- CC-BY-SA-4.0
04 / The upstream project
Is it maintained?
Not documentedRepository activity is not documented
Active: activity within 90 days of the snapshot. Quiet: within a year. Dormant: longer.
05 / Parts & kits
A head start.
Maker-listed sellers only. No affiliate links or paid placement.
MAKER’S COST
About €25
standalone PincOpen gripper BOM
The standalone PincOpen gripper BOM is about €25.
READMEKit availability is not documented in our reviewed sources.
06 / Side by side
Compare with other hands & grippers.
The three hands & grippers with the closest documented maker’s cost. Same sources, same rules.
| Robot | Cost | Open files | Can I sell it? | Runs on | Maintained | Stars |
|---|---|---|---|---|---|---|
| Pinc'OpenThis robotpollen-robotics | About €25standalone PincOpen gripper BOM | 3 of 6 | Yes, with creditHW CC BY-SA 4.0 · SW CC-BY-SA-4.0 | LeRobotPython | Not documented | — |
| YAM-UMIYosub Shin | About $79per gripper | 3 of 6 | YesHW MIT · SW MIT | Not documented | Not documented | — |
| AmazingHandPollen Robotics | Under €200hand, before controller | 5 of 6 | Yes, with creditHW CC BY 4.0 · SW Apache-2.0 | PythonArduinoMuJoCo | QuietApr 3, 2026 | 2,462 |
| Aero Hand OpenChestnut Robotics | $314complete kit | 6 of 6 | NoHW CC BY-NC-SA 4.0 · SW Apache-2.0 | ROS 2MuJoCoPython | ActiveSep 15, 2026 | 1,054 |
| This robotPinc'Open | YAM-UMI | AmazingHand |
|---|---|---|
| Cost | ||
| About €25 | About $79 | Under €200 |
| Can I sell it? | ||
| Yes, with credit | Yes | Yes, with credit |
| Open files | ||
| 3 of 6 | 3 of 6 | 5 of 6 |
| Runs on | ||
| LeRobot, Python | Not documented | Python, Arduino, MuJoCo |
| Maintained | ||
| Not documented | Not documented | QuietApr 3, 2026 |
Upkeep is measured against each robot’s own snapshot. Costs keep the maker’s scope, so check what each figure covers.
See them in the table07 / Follow the evidence
Open books.
Repository files are pinned to commit 1b5a3dc. Websites and papers are listed with their review dates.
- 01README.md at 1b5a3dcReviewed Oct 30, 2026
- 02LICENSE at 1b5a3dcReviewed Oct 30, 2026