Humanoid
Z1
by Unitree
Specifications
- Current (a)
- >20
- Voltage (v)
- 24
- Weight
- 4.3 kg
- Gear ratio
- 60+
- Payload
- 2 kg
- Max reach (mm)
- 740
- Peak power (w)
- 500
- Gearbox type
- harmonic
- Max torque nm
- 33
- Backlash arcmin
- 6
- J1 range angle max
- 150
- J1 range angle (min)
- -150
- J2 range angle max
- 180
- J2 range angle (min)
- 0
- J3 range angle max
- 0
- J3 range angle (min)
- -165
- J4 range angle max
- 80
- J4 range angle (min)
- -80
- J5 range angle max
- 85
- J5 range angle (min)
- -85
- J6 range angle max
- 160
- J6 range angle (min)
- -160
- Degrees of freedom
- 6
- J1 max speed deg per s
- 180
- J2 max speed deg per s
- 180
- J3 max speed deg per s
- 180
- J4 max speed deg per s
- 180
- J5 max speed deg per s
- 180
- J6 max speed deg per s
- 180
- Joint motor weight g
- 405
- Control frequency hz
- 1000
- Joint motor height (mm)
- 52
- Encoder resolution bit
- 15
- Joint motor diameter (mm)
- 65
- Torque control accuracy nm
- 0.2
- Repeat positioning accuracy (mm)
- 0.1
Overview
Z1 is a 6-axis collaborative robotic arm with 2 kg payload and 740 mm reach. Features force feedback, collision detection, and dual force-position control modes. Lightweight at 4.3 kg with harmonic gear reduction. Compatible with quadruped mobile robots for collaborative applications in logistics, e-commerce, and general robotics tasks.
Key features
- ▸6-axis robotic arm with 2 kg payload capacity
- ▸Compact design, 4.3 kg weight
- ▸740 mm maximum reach
- ▸Force control with ~0.2 N·m precision
- ▸Joint torque feedback and collision detection
- ▸Harmonic gear reducer with 60+ ratio
- ▸Compatible with quadruped robots (Aliengo, B1)
- ▸Ethernet interface, Ubuntu control system
- ▸Quick-change end-effector interface
- ▸Force and position dual-mode control