Product Overview

The Unitree Dedicated D2 Plus Arm is a complete 8-DOF robotic manipulation system designed for ready-to-deploy automation, research, and industrial applications. Building on the proven D2 Basic platform with its 7 degrees of freedom and 44.3 lb·ft (60 N·m) maximum joint torque, the Plus variant adds the Dex1-1 Advanced Gripper as standard equipment, bringing the total system to 8 degrees of freedom (7 arm joints + 1 gripper DOF).

Constructed with industrial-grade cross-roller bearings and internal-rotor permanent magnet synchronous motors, the D2 Plus ensures high precision and high load capacity. The integrated Dex1-1 gripper features a built-in wrist camera for visual servoing, object recognition, and quality inspection -- eliminating the need for external vision systems in many applications. Integrated with a Cortex-M33 32-bit processor, it supports a 500 Hz control cycle and multiple control methods including SDK, host computer, and drag-and-drop teaching.

Dex1-1 Advanced Gripper with Wrist Camera

The D2 Plus comes standard with the Dex1-1 Advanced Gripper, a precision end-effector designed specifically for integration with the D2 arm platform:

Extensive Joint Motion Range

The D2 Plus Arm distributes 7 degrees of freedom across its arm joints with an extensive motion range optimized for maximum reach and dexterity, plus the additional gripper DOF:

• J1 Joint: -156° to 156° | Peak torque 44.3 lb·ft (60 N·m), maximum speed 18.7 rad/s. Provides the primary base rotation for wide workspace coverage.
• J2 Joint: 0° to 195° | Peak torque 44.3 lb·ft (60 N·m), maximum speed 18.7 rad/s. Delivers powerful shoulder movement for heavy lifting and positioning.
• J3 Joint: -160° to 160° | Peak torque 44.3 lb·ft (60 N·m), maximum rotational speed 18.7 rad/s. Enables deep reach and complex spatial positioning.
• J4 Joint: -180° to 0° | Peak torque 22.1 lb·ft (30 N·m), maximum rotational speed 52.4 rad/s. High-speed wrist rotation for rapid orientation changes.
• J5 Joint: -102° to 102° | Peak torque 22.1 lb·ft (30 N·m), maximum speed 52.4 rad/s. Provides precise pitch control for end-effector alignment.
• J6 Joint: -90° to 90° | Peak torque 7.4 lb·ft (10 N·m), maximum speed 37.7 rad/s. Fine-tuned roll adjustment for delicate manipulation tasks.
• J7 Joint: -90° to 90° | Peak torque 7.4 lb·ft (10 N·m), maximum speed 37.7 rad/s. Final joint orientation for exact tool or gripper positioning.
• Gripper (Dex1-1): 1 DOF actuation | Integrated with wrist camera for visual feedback during grasping operations.

Control System & Interfaces

The D2 Plus Arm provides comprehensive real-time control and flexible integration options for advanced robotics applications:

Communication & Power Interfaces

The D2 Plus Arm offers robust communication and power options optimized for industrial and research environments:

What's Included (Per Arm)

Each D2 Plus Arm package contains the following components for a complete robotic manipulation system:

Important Notes

• End-effector included: Unlike the D2 Basic, the D2 Plus comes standard with the Dex1-1 Advanced Gripper with wrist camera. No separate gripper purchase required.
• Power adapter not included. The arm can be powered directly via the XT30 power connector (36V-58V). Ensure your power supply can handle the 870W peak load.
• The wrist camera requires appropriate lighting conditions for optimal performance. Camera specifications and resolution details are available in the SDK documentation.
• Firmware upgrades are performed via IAP. Ensure stable power during the upgrade process.
• Secondary development requires advanced programming knowledge and familiarity with robotics control concepts, UDP/Serial communication protocols, multi-DOF kinematics, and computer vision for camera integration.
• Total system weight is higher than D2 Basic due to the integrated Dex1-1 gripper. Verify mounting surface capacity for your installation configuration.

Technical Specifications