Robot Arm - UNITREE G1 Dex3-1 L+R Without Touch Sensors

All about the product

UNITREE G1 Dex3-1 Robotic Arms (Left + Right) Without Touch Sensors

The UNITREE G1 Dex3-1 set includes a left and right three-finger robotic arm designed to work with the UNITREE G1 humanoid robot. Each arm has 7 degrees of freedom and utilizes 7 miniature brushless motors with force control. The hybrid force and position control allows for precise movement control, with a finger tip positioning repeatability of ±2 mm. A connection frequency of 1,000 Hz, USB 2.0 interface, and a wide feedback spectrum enable complex manipulations and precise operation of the mechanism.

7 Degrees of Freedom for Precise Movement

Each Dex3-1 arm has three moving fingers – the thumb has 3 degrees of freedom, the index finger – 2, and the middle finger – another 2. Each joint’s range of motion allows for complex gripping configurations – the thumb ranges from -60° to 60°, the index finger from -35° to 60°, and the middle finger from 0° to 100°, while the index and middle finger joints operate in ranges of 0° to 90° and 0° to 100° respectively. This design allows the fingers to be repositioned in multiple planes and adapt their configuration to specific tasks. The finger tip positioning repeatability of ±2 mm further assists in executing tasks that require consistent motion reproduction.

Hybrid Force Control and Advanced Joints

The UNITREE Dex3-1 uses hybrid force and position control, meaning the control is not limited to a specific finger position. Each arm’s construction includes 6 miniature direct drive brushless force control motors and 1 gear motor. F-1515-108 and F-1515-214 models are used, and the system allows control over parameters such as torque, angle, angular velocity, stiffness, and damping. The ideal maximum torque of F-1515-108 is 0.76 Nm, and the rated torque reaches 0.49 Nm in one direction and 1.37 Nm in the opposite direction. For F-1515-214, these values are 1.498 Nm for the ideal torque, and 0.86 Nm and 3.1 Nm for the rated torque respectively.

Comprehensive Operating Feedback

The system provides a wide range of information about the current state of the mechanism. Sensor data includes joint mode, position, speed, torque and temperature, as well as voltage, current, and IMU data. Control feedback also includes joint stiffness and damping coefficients. This allows for precise monitoring of the arm's behavior during tasks and the simultaneous use of multiple parameters during motion planning and control.

1000 Hz Connection and USB 2.0

The arm's connection interface uses USB 2.0, with a connection frequency of 1000 Hz. The total data packet size for sending is 1,234 bytes, and for receiving is 1,270 bytes. The joint control frequency is also 1,000 Hz, and high-speed unibus is used for joint communication. These parameters provide access to a large amount of information about the arm's status and allow frequent updates of control parameters while executing complex motion sequences.

Design Adapted for UNITREE G1 Robot

One arm weighs 710 g, and its dimensions in the extended position are 175 × 88 × 77 mm. The Dex3-1 can work alongside the UNITREE G1 humanoid robot and allows for various complex manipulation tasks. The compact dimensions of the mechanism are combined with an advanced motion control system and feedback system, providing access to a wide spectrum of data about the arm's operation.