| 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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