In this paper, we propose a 3D-printed digital pipette designed for robot gripper. The proposed pipette transfer liquids in our robot chemist system as shown in Figure . Our pipette uses a low-cost commercial syringe to hold liquids and a linear actuator to handle the plunger of the syringe. The linear actuator enables precise control of the syringe plunger. To address the pipette handling problem with a simple gripper (i.e., with two fingers), our device inhales and ejects liquids by commanding the pipette through a serial communication protocol. Moreover, to overcome the perception problem, the volume of liquid to transfer can be specified via an external signal message. This signal is later transformed to the linear actuator command, using a calibration lookup table implemented at the firmware level. The accuracy of liquid transfer by a robot hand using the proposed pipette was competitive with that of a traditional micropipette. This is very important as one does not want to compromise the standard accuracy that is widely accepted for these devices. The design of the pipette is publicly available under the creative commons license. In addition, the code for controlling the proposed pipette is available with the documentation. Users can expand our design to adjust their individual needs.