Kit, Manipulator Arm, Unitree Z1 (Air), for CBRN UGV

ACC‑101105

Kit, Manipulator Arm, Unitree Z1 (Air), for CBRN UGV

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KEY SPECIFICATIONS
control interface Position + Force Control

Note: 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.
DOF 6 Axis
individual joint

Backlash: ～6 arcmin

Communication Method: RS 485

Maximum Torque: 33 N·m

Encoder Resolution: 15 bit

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
joint parameters

Joint: J1, Range: ±150°, Max Speed: 180°/s
Joint: J2, Range: 0-180°, Max Speed: 180°/s
Joint: J3, Range: -165°-0, Max Speed: 180°/s
Joint: J4, Range: ±80°, Max Speed: 180°/s
Joint: J5, Range: ±85°, Max Speed: 180°/s
Joint: J6, Range: ±160°, Max Speed: 180°/s
payload 2 kg
reach 740 mm
repeatability ～0.1 mm (depends on the actual tests according to the user's requirements)
Product Revision A
ELECTRICAL SPECIFICATIONS
current consumption > 20A
power consumption 500W max.
voltage 24 VDC
INTERFACE SPECIFICATIONS
force feedback and collision detection Provide
interface Ethernet
user operating system Ubuntu
PHYSICAL SPECIFICATIONS
enclosed accessories Mounting bracket, case
product weight 4.3 kg