Technical parameters

Robot	Z1
DOF	6 rotation
Weight	4.1kg
Payload	≥3kg
Maximum reach	740mm
Repeatability	~0.1mm
Power supply	24V >20A
Communication	Ethenet
Programming	c++

Joints ranges

Coordinate

Joint Coordinate

The serial numbers of its joints start from J1 and increase to J6 one by one. In the above figure, key + represents the positive direction of the joint rotation, and key - represents the negative direction.

Joint ω υ

J1 [0, 0, 1] [0, 0, 0.065] J2 [0, 1, 0] [0, 0, 0.1115] J3 [0, 1, 0] [-0.35, 0. 0.1115] J4 [0, 1, 0] [-0.132, 0, 0.1685] J5 [0, 0, 1] [-0.06, 0, 0.1685] J6 [1, 0, 0] [-0.0128, 0, 0.1685]

Cartesian coordinate

Flange

Where the absolute initial position of the gripper loading plane (the J6 end plane) is [0,049, 0, 0.1605]

The position of the center of the Unitree_gripper relative to the loading plane is [0.0382, 0, 0].