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
The movement range of Z1 robotic arm
Coordinate
Joint coordinate
Joint Serial Number and Positive Direction of Joint Rotation Definition
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
Cartesian Space Control
Flange
z1 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].