Z1 Robot Arm

Revision History

Revision

Date (DD/MM/YYYY)

Author

Changes

1

17/01/2024

Kang Wei

Initial release

1. Overview

../../_images/z1_arm.jpg

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

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

[1] It depends on the actual test according to the use requirements (the test standards of manipulator vary greatly, and the accuracy varies greatly under different test conditions)

[2] Since the reduction ratio used by each joint is relatively low, the position control stiffness of the whole machine is low. If the control mode is not optimized, there will be large position control error and shaking when the manipulator moves.

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°/s

3. End Effectors

Gripper

../../_images/z1_robot_arm_gripper.jpg
Specifications

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

Manual

Development