Unitree Z1 Review: Specs, Price and Applications of the 4.5 kg Six-Axis Robot Arm
Updated: 7 days ago
The Unitree Z1 is a six-axis robot arm that weighs only 4.3 to 4.5 kg, with a payload of 2 to 3 kg and a reach of 740 mm, listed at USD 15,999 as the Z1 Pro. This review covers its specifications, design, programming options, applications and price.
Quick Verdict
The Z1 is built to ride on other robots. At 4.5 kg it is light enough to be carried by a quadruped robot, and it runs from a 24 V supply. It has force control and collision detection in every joint and an open programming interface on Ubuntu. Its accuracy of about 0.1 mm is adequate for manipulation research, and the maker itself warns that the low gear ratios can cause position error and shaking unless the control is tuned. It is a research and development arm, not a factory cobot. When this review was written the maker's shop listed the Z1 Pro as backordered.
Unitree Z1 at a Glance
Payload: 2 kg for the Z1 AIR, 3 kg or more for the Z1 PRO
Reach: 740 mm
Axes: 6
Repeatability: about 0.1 mm
Weight: 4.3 kg or 4.5 kg
Price: USD 15,999 for the Z1 Pro
Unitree Z1 Technical Specifications
The table below compares the two versions.
Specification | Z1 AIR | Z1 PRO |
Degrees of freedom | 6 | 6 |
Weight | 4.3 kg | 4.5 kg |
Payload | 2 kg | 3 kg or more |
Reach | 740 mm | 740 mm |
Repeatability | About 0.1 mm | About 0.1 mm |
Power supply | 24 V, more than 20 A | 24 V, more than 20 A |
Maximum power | 500 W | 500 W |
Control | Position and force control | Position and force control |
Detailed Technical Data
Maximum joint speed of 180°/s on every joint
Joint ranges: J1 ±150°, J2 0 to 180°, J3 -165° to 0°, J4 ±80°, J5 ±85°, J6 ±160°
Ethernet interface; motors communicate over RS485
Operating system: Ubuntu
Force feedback and collision detection
Open programming interface and quick exchange of the tool at the end of the arm
Design and Build Quality
The whole design follows from the weight target. A six-axis arm of 4.5 kg with a 740 mm reach can be mounted on a legged or wheeled robot without overloading it, and the maker presents the Z1 as a companion to its larger quadruped robots. The joints use low reduction ratios, which gives good force control and makes the arm safe in contact, at the cost of stiffness. The maker states openly that accuracy depends on test conditions and that control must be optimized to avoid position error and shaking.
Programming and Software
Open Interface
The arm runs on Ubuntu and offers open programming and extended interfaces.
Force Control
Position and force control are available in every joint, with force feedback and collision detection.
Unitree Z1 Applications and Use Cases
The Z1 is aimed at manipulation on mobile robots and at research.
Mobile Manipulation
Mounted on a quadruped robot, the arm can open doors, pick up objects and operate equipment.
Research and Development
The force-controlled joints and open software suit research into manipulation and robot learning.
Service and Logistics
The maker also names e-commerce logistics and consumer services as fields of use.
Unitree Z1 Price and Value
The Unitree Z1 Pro is listed at USD 15,999 in the manufacturer's shop, excluding duties. It was shown as backordered when this review was written. Prices are indicative, are not final and may change.
For the company behind the robot, read the Unitree Robotics Company Profile: History, Products, Stock Listing and Controversies.
Pros and Cons
Pros
4.5 kg weight with a 740 mm reach
Force control and collision detection in every joint
24 V supply suits battery-powered robots
Open programming on Ubuntu
Joint speed of 180°/s
Cons
Position error and shaking possible without tuning, according to the maker
Payload of 2 to 3 kg
High price for the payload
Backordered at the time of writing
Who Should Buy the Unitree Z1?
The Z1 fits research groups and developers who need a light, force-controlled arm for a mobile robot.
Unitree Z1 FAQ
How much does the Unitree Z1 cost?
The Z1 Pro is listed at USD 15,999 in the manufacturer's shop, excluding duties. The price is indicative and may change.
What is the payload and reach of the Unitree Z1?
The Z1 AIR carries 2 kg and the Z1 PRO 3 kg or more; both reach 740 mm.
How accurate is the Unitree Z1?
Its published repeatability is about 0.1 mm, depending on test conditions.
How many axes does the Unitree Z1 have?
It has 6 degrees of freedom.
How much does the Unitree Z1 weigh?
4.3 kg as the Z1 AIR and 4.5 kg as the Z1 PRO.
What power does the Unitree Z1 need?
A 24 V supply with more than 20 A; maximum power is 500 W.
Does the Unitree Z1 have force control?
Yes. It offers position and force control, with force feedback and collision detection.
What is the Unitree Z1 used for?
Manipulation on mobile robots, research and development, and service and logistics tasks.
Specifications and prices are based on manufacturer information. Prices are indicative, are not final and may change.
