| Customization: | Available |
|---|---|
| Application: | Assembly, Machine Tending |
| Control Mode: | Continuous Path Control |
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| Unitree Dex3-1 Parameter | |||
| Body parameters | Weight | 710g | |
| Dimensions | 175mmx88mmx77mm | ||
| Dexterous hand with 7 degrees of freedom | Thumb x3 | ||
| Index finger x2 | |||
| Middle finger x2 | |||
| Transmission mechanism | 6 Motors Drive Directly | ||
| 1 Motor Drive with Gears | |||
| Joint Angle | Thumb Joint 0: -60°~60° | ||
| Thumb Joint 1: -35°~60° | |||
| The Thumb Joint 2: 0 to 100° | |||
| Index Finger Joint 0: 0 °~90° | |||
| Index Finger Joint 1: 0 °~100° | |||
| Middle Finger Joint 0: 0 °~90° | |||
| Middle Finger Joint 1: 0 °~100° | |||
| Fingertip repeatability | ±2mm | ||
| Operating voltage | 12~58V | ||
| Static current | [email protected] | ||
| Maximum current | 10A | ||
| Communication interface | USB2.0 | ||
| Operating temperature range | -20ºC ~ 60ºC | ||
| Load condition (palm facing down at normal temperature, grasping a 5cm round hard object) | Maximum weight is 500g | Maximum power: 400W@35 | |
| Load condition (palm facing left at normal temperature, grasping a 5am round hard object) | Maximum weight is 500g | Maximum power: 400W@35 | |
| Perception parameters | Number of array sensors | 9 (33 pressure sensors in total) | |
| Array resolution | 2 x 2 (palm) x 3 | ||
| 2 x 2 (Single Finger Pad) x 3 | |||
| 3 x 1 (Single Fingertip) x 3 | |||
| Perception range | 10g-2500g | ||
| Maximum receiving capacity (without damage) | 20kg | ||
| Software Features | Communication rate | 1000Hz | |
| Number of bytes in a whole packet | Transmitter: 1234 bytes | ||
| Receiver: 1270 bytes | |||
| Perception feedback | Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current, Sensor Pressure Value, Sensor Temperature Value, imu Data | ||
| Control feedback | Joint mode, joint position, joint velocity, joint torque, joint stiffness coefficient, joint damping coefficient | ||
| Micro brushless force control joint parameters | Model | F-1515-108 Micro brushless force control joint | F-1515-214 Micro Brushless Force Control Joint |
| Weight | 45g | ||
| Size | 34.8mm x 23.1mm x 23.3mm | ||
| Reduction Ratio | 1:108 | 1:214 | |
| Maximum torque (ideal) | 0.76Nm | 1.498Nm | |
| Maximum Torque (Actual) | The Torque Is In The Same Direction As The Speed:0.49Nm | The Torque Is In The Same Direction As The Speed:0.86Nm | |
| The Toque Is In The Opposite Direction of The Rotational Speed:1.37Nm | The Toque Is In The Opposite Direction of The Rotational Speed:3.1 Nm | ||
| Maximum speed | 23rad/s | 11rad/s | |
| Maximum line current | 4.76A | ||
| Communication control frequency | 1000Hz | ||
| Communication method | High Speed Unibus | ||
| Encoder | Rotor Absolute Value Encoder | ||
| Usage environment | -20ºC ~ 60ºC | ||
| Waterproof level | / | ||
| Operating voltage | 12-24V | ||
| Motor sensing feedback | Torque, angle, angular velocity, temperature | ||
| Motor control command | Torque, angle, angular velocity, stiffness, damping | ||
| [1]It is the size of the dexterous hand in flat state. | |||
| [2]The data refers to the pressure exerted by the dexterous hand when it is pressed by a vertical downward cylinder with a diameter of 1cm, which varies in different application scenarios. Please refer to the actual situation. | |||
| [3]This product is a civilian robot. We kindly request that all users refrain from making any dangerous modifications or using the robot in a hazardous manner. | |||
| [4]Please visit Unitree Robotics Website for more related terms and policies, and comply with local laws and regulations. | |||
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