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Unitree Dex3-1 Dexterous Hand
Regular price
€0,00
The Unitree Dex3-1 Dexterous Hand is a three-finger dexterous hand with 7 degrees of freedom. It uses force and position hybrid control and is described as sensitive and reliable for precise object operation. One hand has 33 tactile sensors and can be used with the Unitree G1 humanoid robot to perform various complex actions. The Dex3-1 supports USB2.0 communication with a 1000 Hz communication rate.
Highlights
- Three-finger dexterous hand with 7 degrees of freedom.
- Uses force and position hybrid control.
- Includes 6 micro brushless force control joint direct drives and 1 micro brushless force control joint gear drive.
- One hand has 33 tactile sensors.
- Fingertip repeat positioning accuracy is ±2 mm.
- Communication interface is USB2.0.
- Communication rate is 1000 Hz.
- Working voltage range is 12~58 V.
- Can be used with the G1 humanoid robot to perform various complex actions.
Technical specifications
| Spec | Value |
| Body Parameters - Weight | 710 g |
| Body Parameters - Size | 175 mm x 88 mm x 77 mm |
| Body Parameters - Degrees of Freedom | Thumb x 3; Index Finger x 2; Middle Finger x 2 |
| Body Parameters - Transmission Mechanism | 6 motors drive directly; 1 motor drive with gears |
| Joint Angles - Thumb Joint 0 | -60°~60° |
| Joint Angles - Thumb Joint 1 | -35°~60° |
| Joint Angles - Thumb Joint 2 | 0°~100° |
| Joint Angles - Index Finger Joint 0 | 0°~90° |
| Joint Angles - Index Finger Joint 1 | 0°~100° |
| Joint Angles - Middle Finger Joint 0 | 0°~90° |
| Joint Angles - Middle Finger Joint 1 | 0°~100° |
| Body Parameters - Fingertip Repeat Positioning Accuracy | ±2 mm |
| Electrical - Working Voltage | 12~58 V |
| Electrical - Static Current | 58 V @ 0.2 A |
| Electrical - Maximum Current | 10 A |
| Communication - Communication Interface | USB2.0 |
| Environment - Working Temperature Range | -20℃ ~ 60℃ |
| Load Conditions - Palm Facing Down at Room Temperature, Grasping a 5 cm Round Hard Object | Maximum weight 500 g; maximum power 400 W @ 3 s |
| Load Conditions - Palm Facing Left at Room Temperature, Grasping a 5 cm Round Hard Object | Maximum weight 500 g; maximum power 400 W @ 3 s |
| Sensing Parameters - Number of Pressure Sensors | 9; total of 33 pressure sensors |
| Sensing Parameters - Array Resolution | 2 x 2 (Palm) x 3; 2 x 2 (Single Finger Pad) x 3; 3 x 1 (Single Fingertip) x 3 |
| Sensing Parameters - Range of Perception | 10 g-2500 g |
| Sensing Parameters - Maximum Acceptance (Undamaged) | 20 kg |
| Software Functions - Communication Rate | 1000 Hz |
| Software Functions - Number of Bytes in a Full Packet | Sender: 1234 bytes; Receiver: 1270 bytes |
| Software Functions - Perceptual Feedback | Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current, Sensor Pressure Value, Sensor Temperature Value, imu Data |
| Software Functions - Control Feedback | Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient |
| Miniature Brushless Force Control Joint Parameters - Models | F-1515-108 Miniature Brushless Force Control Joint; F-1515-214 Miniature Brushless Force Control joint |
| Miniature Brushless Force Control Joint Parameters - Weight | 45 g |
| Miniature Brushless Force Control Joint Parameters - Size | 34.8 mm x 23.1 mm x 23.3 mm |
| Miniature Brushless Force Control Joint Parameters - Reduction Ratio | 1:108; 1:214 |
| Miniature Brushless Force Control Joint Parameters - Maximum Torque (Ideal) | 0.76 Nm; 1.498 Nm |
| Miniature Brushless Force Control Joint Parameters - Maximum Torque (Actual) | Torque in the same direction as the speed: 0.49 Nm; torque in the same direction as the speed: 0.86 Nm; torque in the opposite direction of the rotational speed: 1.37 Nm; torque in the opposite direction of the rotational speed: 3.1 Nm |
| Miniature Brushless Force Control Joint Parameters - Maximum Rotational Speed | 23 rad/s; 11 rad/s |
| Miniature Brushless Force Control Joint Parameters - Maximum Line Current | 4.76 A |
| Miniature Brushless Force Control Joint Parameters - Communication Control Frequency | 1000 Hz |
| Miniature Brushless Force Control Joint Parameters - Method of Communication | High Speed Unibus |
| Miniature Brushless Force Control Joint Parameters - Encoder | Rotor Absolute Value Encoder |
| Miniature Brushless Force Control Joint Parameters - Working Temperature Range | -20℃ ~ 60℃ |
| Miniature Brushless Force Control Joint Parameters - IP Rating | / |
| Miniature Brushless Force Control Joint Parameters - Working Voltage | 12-24 V |
| Miniature Brushless Force Control Joint Parameters - Motor Perceived Feedback | Torque, Angle, Angular Velocity, Temperature |
| Miniature Brushless Force Control Joint Parameters - Motor Control Instruction | Torque, Angle, Angular Velocity, Stiffness, Damping |
Use cases
- Use with the Unitree G1 humanoid robot to perform various complex actions.
- Precise operation of objects.
- Data collection with sensitive and accurate tactile sensing.