宇树 R1-A / R1-A-D 双臂人形机器人平台，支持快速部署与多场景应用。提供固定版与移动升降版，单臂 5-7DOF，单臂负载 2-4kg，重复定位精度 ±0.1mm，面向工业操作与科研。
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技术参数
其他参数
| Model | R1-A5 R1-A7 R1-A5-D R1-A7-D |
| Weight | Approx. 11kg(with external power supply) Approx. 13kg(with external power supply) Approx. 30kg Approx. 32kg |
| Wiring | Hollow + Internal Wiring Hollow + Internal Wiring Hollow + Internal Wiring Hollow + Internal Wiring |
| Charger | Included Included Included Included |
| Speaker | Dual Speakers (3W×2) Dual Speakers (3W×2) Dual Speakers (3W×2) Dual Speakers (3W×2) |
| Head DOF | 2 2 2 2 |
| Waist DOF | 1 1 1 1 |
| Dimensions | 700x357x190mm 835x357x190mm Shrunk size: 683x520x440mm |
| Microphone | 4-Array 4-Array 4-Array 4-Array |
| Chassis DOF | / / 3 3 |
| DOF per Arm | 5 7 5 7 |
| Joint Motor | Low-Inertia High-Speed Inner Rotor PMSM (Superior Responsiveness & Heat Dissipation) Low-Inertia High-Speed Inner Rotor PMSM (Superior Responsiveness & Heat Dissipation) Low-Inertia High-Speed Inner Rotor PMSM (Superior Responsiveness & Heat Dissipation) Low-Inertia High-Speed Inner Rotor PMSM (Superior Responsiveness & Heat Dissipation) |
| Power Input | Yes Yes Yes Yes |
| Power Supply | External Power or Li-ion Battery External Power or Li-ion Battery External Power or Li-ion Battery External Power or Li-ion Battery |
| Camera Module | Binocular Camera + Optional Wrist Camera Binocular Camera + Optional Wrist Camera Chassis LiDAR + Binocular Camera + Optional Wrist Camera Chassis LiDAR + Binocular Camera + Optional Wrist Camera |
| Joint Encoder | Dual encoder (arm) Dual encoder (arm) Dual encoder (arm) Dual encoder (arm) |
| Cooling System | Local Air Cooling Local Air Cooling Local Air Cooling Local Air Cooling |
| End Effector [2] | Optional two-finger gripper / three-finger dexterous hand / five-finger dexterous hand Optional two-finger gripper / three-finger dexterous hand / five-finger dexterous hand Optional two-finger gripper / three-finger dexterous hand / five-finger dexterous hand Optional two-finger gripper / three-finger dexterous hand / five-finger dexterous hand |
| Smart OTA Update | Yes Yes Yes Yes |
| Joint Motion Range | Waist: Yaw±150° |
| Max Arm Payload [1] | 2~4kg 2~4kg 2~4kg 2~4kg |
| Warranty period [4] | 12 months 12 months 12 months 12 months |
| Base Computing Power | Body: 8-core high-performance CPU |
| Joint Output Bearing | Crossed Roller + Deep Groove Ball Crossed Roller + Deep Groove Ball Crossed Roller + Deep Groove Ball Crossed Roller + Deep Groove Ball |
| High-Computing Module | Multiple brands and models available |
| WiFi 6 & Bluetooth 5.2 | Yes Yes Yes Yes |
| Secondary Development [3] | Yes Yes Yes Yes |
| Forearm + Upper Arm Length | 420mm 555mm 420mm 555mm |
| Battery Life(Battery-powered) | Approx. 1.5h Approx. 1.5h Approx. 1.5h Approx. 1.5h |
| Maximum torque of the shoulder | 60Nm 60Nm 60Nm 60Nm |
| Degrees of Freedom (with Gripper) | 15 19 18 22 |
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$4,290
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