Unitree Z1

Perfect Synergy

Mobile Platforms Adaption
Diversified Application Scenarios

  • Compact & Lightweight

  • Dexterous & Flexible

  • Sufficient Payload

  • Sufficient Accuracy

  • Support Joint Force Control

  • With Collision Protection

Open Programming Interface and Extended Interface
The manipulator control program and control interface will be successively opened, and different actuators can be quickly replaced at the end of the manipulator.

Application

Various mobile robots’ onboard manipulator, e-commerce logistics, new consumption, daily life, etc.

  • Backlash

    ～6 arcmin

  • Communication Method

    RS 485

  • Maximum Torque

    33N·m

  • Encoder Resolution

    15bit

  • Weight

    405g

  • Force Control Accuracy

    ～0.2N·m

  • Size

    Φ65*52mm

  • Control Frequency

    1KHz

  • Reducer

    Harmonic Reducer

  • Bearing

    Industrial grade cross roller

  • Reduction Ratio

    60+

  • Motor Sensing Feedback

    Torque, Angle, Angular Velocity

  • Voltage

    24V(Recommend)

  • Motor Control Command

    Torque, Angle, Angular Velocity, Stiffness, Damping

It can cooperate with
Aliengo or B1 Robot
and other mobile robots,
to complete complex tasks and explore various
application scenarios.
Parameter

    • DOF

      6 Axis

    • Weight

      4.3kg

    • Payload

      2kg

    • Reach

      740mm

    • Repeatability [1]

      ～0.1mm

    • Power Supply

      Voltage 24V Current > 20A

    • Interface

      Ethernet

    • User Operating System

      Ubuntu

    • Power

      MAX 500w

    • Force Feedback and Collision Detection

      Provide

    • Control Interface [2]

      Position + Force Control

    Joint Parameters
      Joint Range Max Speed

      • J1

         ±150° 180°/s

      • J2

         0-180° 180°/s

      • J3

         -165°-0 180°/s

      • J4

         ±80° 180°/s

      • J5

         ±85° 180°/s

      • J6

         ±160° 180°/s

      [1] It depends on the actual test according to the use requirements (the test standards of manipulator vary greatly, and the accuracy varies greatly under different test conditions).

      [2] Since the reduction ratio used by each joint is relatively low, the position control stiffness of the whole machine is low. If the control mode is not optimized, there will be large position control error and shaking when the manipulator moves.