The Unitree Z1 Robotic Arm is a lightweight robotic arm designed for use as an onboard manipulator on mobile robots. It is a 6-axis arm available in Z1 AIR and Z1 PRO configurations, with a 740 mm reach. The manipulator supports Ethernet interface, Ubuntu user operating system support, and position plus force control. Force feedback and collision detection are provided, and the arm can cooperate with Aliengo, B1 Robot, and other mobile robots.
Highlights
- 6-axis robotic arm in Z1 AIR and Z1 PRO configurations.
- Designed for mobile robot onboard manipulation.
- Supports joint force control.
- Provides force feedback and collision detection.
- Open programming interface and extended interface are stated for the manipulator.
- Different actuators can be quickly replaced at the end of the manipulator.
- Can cooperate with Aliengo, B1 Robot, and other mobile robots.
- Control interface is Position + Force Control.
- Interface is Ethernet.
Technical specifications
| Spec | Value |
| Model — Official name | Unitree Z1 Robotic Arm |
| Model — SKU | Z1 |
| Model — Series | Z1 (Robots) |
| Z1 AIR — DOF | 6 Axis |
| Z1 PRO — DOF | 6 Axis |
| Z1 AIR — Weight | 4.3 kg |
| Z1 PRO — Weight | 4.5 kg |
| Z1 AIR — Payload | 2 kg |
| Z1 PRO — Payload | ≥3 kg |
| Performance — Reach | 740 mm |
| Performance — Repeatability | ~0.1 mm |
| Power — Power supply | Voltage 24V Current > 20A |
| Power — Power | MAX 500w |
| Interface — Interface | Ethernet |
| Software — User operating system | Ubuntu |
| Control — Force feedback and collision detection | Provide |
| Control — Control interface | Position + Force Control |
| Joint parameters — J1 range | ±150° |
| Joint parameters — J1 max speed | 180°/s |
| Joint parameters — J2 range | 0-180° |
| Joint parameters — J2 max speed | 180°/s |
| Joint parameters — J3 range | -165°-0 |
| Joint parameters — J3 max speed | 180°/s |
| Joint parameters — J4 range | ±80° |
| Joint parameters — J4 max speed | 180°/s |
| Joint parameters — J5 range | ±85° |
| Joint parameters — J5 max speed | 180°/s |
| Joint parameters — J6 range | ±160° |
| Joint parameters — J6 max speed | 180°/s |
| Joint function parameters — Backlash | ~6 arcmin |
| Joint function parameters — Communication method | RS 485 |
| Joint function parameters — Maximum torque | 33 N·m |
| Joint function parameters — Encoder resolution | 15bit |
| Joint function parameters — Weight | 405 g |
| Joint function parameters — Force control accuracy | ~0.2 N·m |
| Joint function parameters — Size | Φ65*52 mm |
| Joint function parameters — Control frequency | 1KHz |
| Joint function parameters — Reducer | Harmonic Reducer |
| Joint function parameters — Bearing | Industrial grade cross roller |
| Joint function parameters — Reduction ratio | 60+ |
| Joint function parameters — Motor sensing feedback | Torque, Angle, Angular Velocity |
| Joint function parameters — Voltage | 24V(Recommend) |
| Joint function parameters — Motor control command | Torque, Angle, Angular Velocity, Stiffness, Damping |
Use cases
- Various mobile robots' onboard manipulator
- E-commerce logistics
- New consumption
- Daily life
- Cooperating with Aliengo robot to complete complex tasks
- Cooperating with B1 Robot to complete complex tasks
- Exploring various application scenarios with other mobile robots