Hangkai TG9801 / TG9802 Tactile Electric Gripper

The Hangkai Microelectronic HKVR-TG9801 / TG9802 is a tactile electric robot gripper for contact-aware handling and robotic integration. Its parallel jaws provide an adjustable 0–98mm stroke, while fingertip tactile feedback supports adaptive grasping. Choose single-sided tactile sensing on TG9801 or dual-sided tactile sensing on TG9802, with the RS485 or CAN interface explicitly selected for your controller.

Select the Gripper or Accessory You Need

Selection	What It Contains
TG9801 — RS485 — Single Tactile Finger	One TG9801 gripper with one tactile finger and RS485 communication
TG9801 — CAN — Single Tactile Finger	One TG9801 gripper with one tactile finger and CAN communication
TG9802 — RS485 — Dual Tactile Fingers	One TG9802 gripper with two tactile fingers and RS485 communication
TG9802 — CAN — Dual Tactile Fingers	One TG9802 gripper with two tactile fingers and CAN communication
RS485-to-USB Adapter Only	One RS485-to-USB PC adapter; no gripper
CAN-to-USB Adapter Only	One CAN-to-USB PC adapter; no gripper
FAIRINO Cable Only	One source-listed FAIRINO connection cable; no robot arm or gripper
AgileX Cable Only	One source-listed AgileX connection cable; no robot arm or gripper
DOBOT Cable Only	One source-listed DOBOT connection cable; no robot arm, force sensor or gripper
1m Cable Extension Only	One cable-length extension option adding1m; no robot arm or gripper
Intel RealSense D405 Camera Only	One Intel RealSense D405 camera; no gripper or robot arm

Accessories are separate purchase options, not a complete gripper kit. Pictures linked to cable selections illustrate integration with an arm; they do not change the contents stated above. The source refers to a standard cable length of50cm and a1m extension option. Confirm the supplied cable, connector and resulting length for your configuration before ordering.

Tactile Feedback and Control Modes

Each tactile fingertip senses force in three dimensions. TG9801 has one tactile fingertip, while TG9802 is listed with two. Two three-axis fingertips do not make this a six-axis force/torque sensor: no wrist-torque measurement is specified.

Stable-grasp mode: the supplier describes an integrated adaptive force-control algorithm for responding to different object materials and shapes. Validate operation with your object and controller.
Pass-through mode: access raw tactile signals for custom tuning in unusual geometries or difficult contact conditions.
PC interface: graphical monitoring illustrates force channels, jaw position, target force, homing and adaptive-grasp controls. Channel labels and example interface values are illustrations, not proof of every feature on every version.
Simulation: the supplier advertises a MuJoCo model for integration development. Confirm model files and software support.

TG9801 RS485 Reference Specifications

The source table explicitly identifies HKVR-TG9801 with RS485. The following figures belong to that reference version; the source does not provide a separate full TG9802 or CAN specification table.

Adjustable stroke	0–98mm
Tactile sensor count	1 on the TG9801 reference;2 on the TG9802 sales options
Tactile measurement	Three-dimensional force sensing per tactile finger
Single-finger gripping force	0.02–20N
Opening / closing time	0.5 /1.6s
Position repeatability	0.2mm
Operating noise	<45dB, supplier rating; test conditions not supplied
Rated voltage	24V
Maximum current	1.35A
Rated current	0.55A
Reference communication	RS485; CAN is a separate selectable version
Operating environment	5–40°C; below85%RH
Recommended maximum payload	1500g, supplier recommendation; application dependent
Gripper body mass	400g, TG9801 source specification

Payload depends on object friction, geometry, center of gravity, mounting and robot motion. The single-finger force range is not a universal lifting-capacity guarantee. Reference timings and electrical ratings must be confirmed for the selected version.

Dimensions and Robot Integration

The supplied drawing shows160mm overall width,98mm opening,150mm overall height and a67mm body dimension. It also marks17mm,40mm and37mm features, diameter19mm and40mm features, and4-M2 mounting holes; refer to the annotated drawing for their locations rather than assuming a complete flange standard.

The supplier lists DOBOT, FAIRINO, SIASUN, JAKA, RealMan, AUBO and AgileX as integration examples. Confirm arm model, flange, fasteners, power, cable pinout and protocol support. Side mounting and expansion points are shown; the source's broad compatibility statements do not establish plug-and-play support for every robot.

Optional Vision Camera and PC Accessories

The Intel RealSense D405 is sold only through its explicitly named camera-only selection. The bound source image lists42×42×23mm dimensions and60g mass. A camera, robot arm, wrist force sensor and external power supply are not automatically included with a gripper selection. Match the USB communication adapter to the selected RS485 or CAN interface; one is not interchangeable with the other without protocol support.

Grasp-status Demonstration

The source's PC demonstration uses red for standby, blue for running, yellow for object detection and green for a stable grasp. Its balloon and robot-arm photographs illustrate a test setup rather than guaranteed handling performance or included equipment. Supplier service statements printed in the source are not presented as RCDrone warranty terms.