1. Overview
The Z1 robot arm is a compact and lightweight 6-DOF manipulator that can cooperate with the Aliengo or B1 robot and other mobile robots for diversified application scenarios.
2. Specifications
Common Technical Specifications
| Specification | Value |
|---|
| Degree of Freedom | 6 |
| Reach | 740mm |
| Repeatability [1] | ~0.1mm |
| Power Supply | Voltage 24V, Current > 20A |
| Interface | Ethernet |
| User Operating System | Ubuntu |
| Power | MAX 500W |
| Force Feedback and Collision Detection | Provided |
| Control Interface [2] | Position + Force Control |
Specific Technical Specifications
| Z1 Air | Z1 Pro |
|---|
| Weight | 4.3kg | 4.5kg |
| Payload | 2.0kg | ≥3.0kg |
Joint Motion Range
| Joint | Range | Max Speed |
|---|
| 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°/ |
3. End Effectors
Gripper
| Specification | Value |
|---|
| Dimensions | 139mm x 80mm x 68mm |
| Weight | 700g - 750g |
| Peak Grasp Force | 200N |
| Peak Clamp Force (at tip of opening) | 150N |
| Rated Load | 2kg |
| Max Opening | 90° |
| Opening/Closing Time | 0.5s |
| Voltage | 24V |
| Peak Power | 70W |
| Communication Mode | RS485 |
4. Resources