YUBI Gripper
A robot-mounted DYNAMIXEL-actuated gripper with public STEP and 3D-printable part files.
Project documentation
Before you build
Five answers, each linked to its source
What does it cost?
Not documented
No cost in the reviewed sources.
Can I sell what I build?
Yes, with creditCommercial use OK, with credit
Hardware CERN Open Hardware Licence Version 2 - Weakly Reciprocal (CERN-OHL-W v2) · Software CERN-OHL-W-2.0. Licensing source
What’s open?
3 of 6CAD: AvailableBOM: AvailablePCB: Off-the-shelf partCode: Not documentedSim: Not documentedGuide: Available
Code, sim not documented · PCB off-the-shelf. All six files
What does it run on?
Not documented
Simulation: Not documented. Software
Is it maintained?
Active
Latest activity Sep 21, 2026 · main repo last commit Sep 21, 2026 · 27 commits in the last 52 weeks · 6 contributors Activity
01 / Under the shell
The specifications.
Hardware, build and software on one sheet. Every fact links to where we found it.
YUBI Gripper is a robot-mounted gripper for dexterous manipulation, actuated by DYNAMIXEL servos. Its repository provides STEP and STL part files; the bill of materials lists printed PLA components, machined parts and a DYNAMIXEL XM430-W350-R servo motor.
Hardware
- Actuators
- 1 · DYNAMIXEL XM430-W350-R servo motor YUBI Gripper_DYNAMIXEL_BOM.md
- Build
- Mixed · 3D-printed PLA and machined A2024 parts Documentation
Building it
- Printed components
- The bill of materials lists 3D-printed PLA parts. YUBI Gripper_DYNAMIXEL_BOM.md
- Machined components
- The bill of materials lists machined A2024 parts. YUBI Gripper_DYNAMIXEL_BOM.md
Software & simulation
- Runs on
- Not documented
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 | STEP and STL part files are provided. | Not documented | gripper/ |
| Bill of materials | Available | Bill of materials for the YUBI Gripper assembly. | Not documented | YUBI Gripper_DYNAMIXEL_BOM.md |
| Electronics | Off-the-shelf part | The bill of materials lists a standard DYNAMIXEL servo motor. | — | YUBI Gripper_DYNAMIXEL_BOM.md |
| Code | Not documented | Not documented | Not documented | No source found |
| Simulation model | Not documented | Not documented | Not documented | No source found |
| Assembly guide | Available | Assembly instructions are provided. | Not documented | AssemblyInstruction/ |
03 / Know before you build
Can you sell it?
Yes, with creditCommercial use OK, with credit
The whole repository, design files included, is CERN Open Hardware Licence Version 2 - Weakly Reciprocal (CERN-OHL-W v2). Commercial use is allowed if you keep the maker’s copyright and license notices. Changes you distribute to the licensed files must stay under the same license; other parts combined with them may use other terms.
- Hardware
- CERN Open Hardware Licence Version 2 - Weakly Reciprocal (CERN-OHL-W v2)
- Software
- CERN-OHL-W-2.0
04 / The upstream project
Is it maintained?
ActiveLatest activity Sep 21, 2026, 39 days before the snapshot
The main repository’s last commit was Sep 21, 2026.
- Stars
- 188
- Forks
- 16
- Contributors
- 6
- Latest release
- v2.0.0 · Sep 21, 2026
Snapshot captured Oct 30, 2026. Recorded figures, not live metrics. 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
Not documented
No cost in the reviewed sources.
Kit availability is not documented in our reviewed sources.
06 / Side by side
Compare with other hands & grippers.
Other hands & grippers in the directory, most recently active first. Same sources, same rules.
| Robot | Cost | Open files | Can I sell it? | Runs on | Maintained | Stars |
|---|---|---|---|---|---|---|
| YUBI GripperThis robotFrontier Research Center, Toyota Motor Corporation | Not documented | 3 of 6 | Yes, with creditHW CERN Open Hardware Licence Version 2 - Weakly Reciprocal (CERN-OHL-W v2) · SW CERN-OHL-W-2.0 | Not documented | ActiveSep 21, 2026 | 188 |
| SSG48 adaptive electric gripperSource-Robotics | Not documented | 4 of 6 | YesHW Apache 2.0 · SW Apache-2.0 | ROS 2Python | ActiveSep 27, 2026 | 184 |
| 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 |
| Hands-on Tutorial: 3D Tactile Sensor Integration in Robotic Fingers for Smart ManipulationMilan Amighi, Constantin Scholz, and Bram Vanderborght (Brubotics – VUB & imec) | Not documented | 2 of 6 | Check firstHW not documented · SW not documented | ROS 2PythonESP32 | ActiveSep 4, 2026 | 7 |
| This robotYUBI Gripper | SSG48 adaptive electric gripper | Aero Hand Open |
|---|---|---|
| Cost | ||
| Not documented | Not documented | $314 |
| Can I sell it? | ||
| Yes, with credit | Yes | No |
| Open files | ||
| 3 of 6 | 4 of 6 | 6 of 6 |
| Runs on | ||
| Not documented | ROS 2, Python | ROS 2, MuJoCo, Python, ESP32 |
| Maintained | ||
| ActiveSep 21, 2026 | ActiveSep 27, 2026 | ActiveSep 15, 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 dd8bd13. Websites and papers are listed with their review dates.
- 01README.md at dd8bd13Reviewed Oct 30, 2026
- 02LICENSE at dd8bd13Reviewed Oct 30, 2026
- 03docs/BOM/YUBI Gripper_DYNAMIXEL_BOM.md at dd8bd13Reviewed Oct 30, 2026