Unitree Dex5-1 Robotic Hand

• Customization: Available
• Application: Assembly, Machine Tending
• Control Mode: Continuous Path Control
• Degrees of Freedom: Multi-axis
• Drive Mode: Electric
• Weight: 1000g
• Size: 217.3mm X 127.5mm X 72.1mm(The Final Shipped Versi
• Communication Interface: USB2.0
• Transport Package: Box
• Trademark: Unitree
• Origin: China
• HS Code: 8543709990

Product Description

Unitree Dex5-1

Precise and precise, ultimate control All joints of each finger support smooth reverse drive Get rid of "stiff hands", make
operation smoother, and facilitate RL direct training

As fast as a rabbit, as agile as a snake
Number of degrees of freedom: 20 All 5 fingers can be replaced independently

Precise feedback, control within millimeters

94 tactile sensors on one hand; Support secondary development of tactile algorithms for dexterous hands High power density hollow
cup motor High power density driver and high precision encoder Low damping and small gap reducer

 

±22°

 

Four-finger side swing Better adaptability to the surface curve of the grasped object, Improving grip reliability

 

Unitree Dex5-1 Parameter
Dex5-1			Dex5-1P
Body  parameters	Weight	1000g	1000g
	Size[1]	217.3mm x 127.5mm x 72.1mm(The final shipped version may vary.)	217.3mm x 127.5mm x 72.1mm(The final shipped version may vary.)
	Joint angle	Thumb x4	Thumb x4
		Index finger x3	Index finger x3
		Middle finger x3	Middle finger x3
		Ring finger x3	Ring finger x3
		Little finger x3	Little finger x3
	Transmission mechanism	12 self-developed micro force-controlled composite transmission joints	12 self-developed micro force-controlled composite transmission joints
		(enables robot to achieve tactile proprioception)	(enables robot to achieve tactile proprioception)
		4 micro force-controlled joint gear transmission	4 micro force-controlled joint gear transmission
	Joint angle	Thumb Joint:	Thumb Joint:
		Thumb Joint 0: -33.5°~39°Thumb Joint 0: -33.5°~39°	Thumb Joint 0: -33.5°~39°Thumb Joint 0: -33.5°~39°
		Thumb Joint 1: 0°~100°	Thumb Joint 1: 0°~100°
		Thumb Joint 2: 0°~110°	Thumb Joint 2: 0°~110°
		Thumb Joint 3: 0°~92°	Thumb Joint 3: 0°~92°
		Four-Finger Joints:	Four-Finger Joints:
		Knuckles 0: -22°~22°	Knuckles 0: -22°~22°
		Knuckles 1: 0°~90°	Knuckles 1: 0°~90°
		Knuckles 2: 0°~95°	Knuckles 2: 0°~95°
		Knuckles 3: 0°~81°(Coupling with finger joint 2)	Knuckles 3: 0°~81°(Coupling with finger joint 2)
	Four-finger side swing	±22°	±22°
	Minimum grabbing diameter	10mm	10mm
	Finger tip repeatability accuracy	±1mm	±1mm
	Finger tip force	10N	10N
	Working voltage	24V~60V	24V~60V
	Quiescent current	[email protected]	[email protected]
	Maximum current	58V@3A	58V@3A
	Communication interface	USB2.0	USB2.0
	Working temperature range	-20ºC ~ 60ºC	-20ºC ~ 60ºC
	Load condition (palm facing downward at normal temperature, grasping a 5cm round hard object)	The Maximum Weight is 3.5kg	The Maximum Weight is 3.5kg
	Load condition (palm facing left at normal temperature, grasping a 5cm round hard object)	The Maximum Weight is 4.5kg	The Maximum Weight is 4.5kg
Sensing paprmenters	Number of array sensors	/	12 (94 pressure sensors in total
	Array resolution	/	2 x 5 (Palm)
			2 x 3 (Single Finger Pad) x 5
			2 x 3 (Single Fingertip) x 5
			2 x 3 (Single Finger Root) x 4
	Range of Perception	/	10g-2500g
	Maximum Acceptance (Unamaged)[2]	/	20kg
Software Features	Communication rate	1000Hz	1000Hz
	Number of bytes in a packet	Sender: 1234 bytes	Sender: 1234 bytes
		Receiver: 1270 bytes	Receiver: 1270 bytes
	Perception feedback	Joint mode, joint position, joint speed, joint torque, joint temperature, voltage and current, imu data	Joint mode, joint position, joint speed, joint torque, joint temperature, voltage and current, imu data
	Control feedback	Joint mode, joint position, joint speed, joint torque, joint stiffness coefficient, joint damping coefficient	Joint mode, joint position, joint speed, joint torque, joint stiffness coefficient, joint damping coefficient