DG-3F (B Type)¶

Warning

This model has been discontinued. It is no longer manufactured or sold, but the ROS 2 driver packages are still maintained for existing users. If you are purchasing a new gripper, consider the DG-3F (M Type) (M type) instead, which includes fingertip force/torque sensors.

3-finger gripper, basic model. This was the original 3-finger design without fingertip sensors.

Specifications¶

Parameter	Value
Model ID	`0x3F01`
Fingers	3
Joints	12 (4 per finger)
F/T Sensor	No
GPIO	Yes (3 outputs, 1 input)

Packages¶

Package	Description
`dg3f_b_description`	URDF/xacro model and meshes
`dg3f_b_driver`	ros2_control hardware driver and launch files
`dg3f_b_moveit_config`	MoveIt 2 configuration (SRDF, planners, mock hardware)

Before You Control: Developer Mode¶

Important

The ros2_control driver speaks a custom protocol over Ethernet that is only available in Developer Mode. On the DG-3F button panel, set ② Developer Mode and ④ EtherNET before launching the driver, otherwise the connection will fail. See the dg3f_b_driver README for the switch/LED panel image.

Launch¶

ros2 launch dg3f_b_driver dg3f_b_driver.launch.py

A multi-gripper launch file is also available:

ros2 launch dg3f_b_driver dg3f_b_driver_multi.launch.py

PID controllers (position reference → effort) are also provided:

# Individual: one PidController per joint (/dg3f_b/<joint>_pospid/reference)
ros2 launch dg3f_b_driver dg3f_b_pid_controller.launch.py

# All-in-one: a single grouped PidController (/dg3f_b/j_dg_pospid/reference)
ros2 launch dg3f_b_driver dg3f_b_pid_all_controller.launch.py

MoveIt Integration¶

The dg3f_b_moveit_config package provides MoveIt 2 motion planning for the DG-3F-B with mock hardware support.

Mock Hardware (No Device Required)¶

ros2 launch dg3f_b_moveit_config dg3f_b_moveit.launch.py use_mock:=true

Real Hardware with MoveIt¶

ros2 launch dg3f_b_moveit_config dg3f_b_moveit.launch.py use_mock:=false delto_ip:=169.254.186.72

Planning Groups¶

Group	Joints
`finger_1`	`j_dg_1_1` ~ `j_dg_1_4` (chain to `l_dg_1_tip`)
`finger_2`	`j_dg_2_1` ~ `j_dg_2_4` (chain to `l_dg_2_tip`)
`finger_3`	`j_dg_3_1` ~ `j_dg_3_4` (chain to `l_dg_3_tip`)
`all_fingers`	All 12 joints

Firmware Note¶

Motor direction was revised in firmware v3.6+. If your firmware is older, the hardware interface automatically detects this and applies the legacy motor direction mapping. No manual configuration is required.