宇树 Z1 机械臂

宇树 Z1 协作机械臂，可搭载于多种移动机器人平台。提供 AIR/PRO 两款，6 轴、臂展 740mm、重复定位精度 ±0.1mm，自重 4.3-4.5kg，负载 2-3kg，适用于物流、新消费与日常生活场景。

技术参数

J1	±150° 180°/s
J2	0-180° 180°/s
J3	-165°-0 180°/s
J4	±80° 180°/s
J5	±85° 180°/s
J6	±160° 180°/s
Size	Φ65*52mm
Joint	Range
Reach	740mm 740mm
6 Axis	6 Axis
Ubuntu	Ubuntu
Weight	4.3kg 4.5kg
Z1 AIR	Z1 PRO
Bearing	Industrial grade cross roller
Payload	2kg ≥3kg
Provide	Provide
Voltage	24V(Recommend)
Backlash	～6 arcmin
MAX 500w	MAX 500w
Interface	Ethernet Ethernet
Max Speed	Joint Parameters
Power Supply	Voltage 24V Current > 20A Voltage 24V Current > 20A
Repeatability	～0.1mm ～0.1mm
Maximum Torque	33N·m
Control Frequency	1KHz
Motor Control Command	Torque, Angle, Angular Velocity, Stiffness, Damping It can cooperate with Aliengo or B1 Robot and other mobile robots,
Force Control Accuracy	～0.2N·m
Motor Sensing Feedback	Torque, Angle, Angular Velocity
Position + Force Control	Position + Force Control
to complete complex tasks and explore various	application scenarios.