About
Description
Unitree Robotics -- Official Robotic Arm
Unitree R1-7a As2 Professional G
R1 Series
Professional G
13 DOF (7+6)
As2 Quadruped Ready
RGB Camera
Linker Hand O6
0.82 lb Hand
Left/Right Versions
Official 13-DOF mobile manipulation system designed for the Unitree As2 industrial quadruped robot. The R1-7a As2 Professional G combines the R1-7a Standard arm with the Linker Hand O6 five-finger dexterous hand (non-tactile, with RGB camera) and specialized As2 adapter base for immediate deployment. Featuring 13 total degrees of freedom (7 arm joints + 6 dexterous hand DOF across 11 joints: 6 active + 5 passive), linkage drive transmission, ultra-lightweight 0.82 lb (370 g) hand with 110.2 lb (50 kg) max load capacity, and <0.008" (<0.20 mm) repeat positioning accuracy. Complete mobile manipulation solution with five-finger dexterity and integrated vision. Available in left-arm and right-arm mirror-image versions.
13
Total DOF
44.3 lb·ft
Max Arm Torque
0.82 lb
Hand Weight
110.2 lb
Max Load
<0.008"
Repeat Accuracy
As2
Quadruped Mount
Professional G vs. Professional E/F: The R1-7a As2 Professional G features the Linker Hand O6 five-finger dexterous hand (non-tactile, with RGB camera), bringing the total system to 13 DOF (7 arm + 6 hand across 11 joints: 6 active + 5 passive). Unlike the BrainCo hands in Professional E/F, the Linker Hand O6 uses linkage drive transmission, weighs only 0.82 lb (370 g), supports 110.2 lb (50 kg) max load, and delivers <0.008" (<0.20 mm) repeat positioning accuracy with specific fingertip force ratings.
Product Overview
The Unitree R1-7a As2 Professional G is a complete 13-DOF mobile manipulation system designed to transform the Unitree As2 industrial quadruped into a highly capable mobile worker with advanced five-finger dexterity. Building on the proven R1-7a Standard arm with its 7 degrees of freedom and 44.3 lb·ft (60 N·m) maximum joint torque, the Professional G variant adds the Linker Hand O6 five-finger dexterous hand (non-tactile, with RGB camera) and As2 adapter base as standard equipment.
The arm features low-inertia high-speed inner-rotor PMSM bionic joint motors with high burst output, housed in a lightweight 12.1 lb (5.5 kg) metal body. The integrated Linker Hand O6 dexterous hand features a five-finger architecture with 6 DOF, 11 joints (6 active + 5 passive), linkage drive transmission, <0.008" (<0.20 mm) repeat positioning accuracy, ultra-lightweight 0.82 lb (370 g) construction, and 110.2 lb (50 kg) max load capacity. The hand includes an integrated RGB camera for visual feedback. The specialized As2 mounting interface ensures secure, vibration-resistant attachment to the robot dog's back. Each arm joint utilizes dual encoders for precise feedback. Supports high-speed 485 communication for the arm.
13-DOF Complete System
7 arm joints plus 6 dexterous hand DOF (6 active + 5 passive joints) deliver a fully integrated five-finger manipulation solution. Linker Hand O6 with RGB camera and As2 mounting base included.
Linker Hand O6 Five-Finger Hand
Five-finger dexterous hand with 6 DOF, 11 joints (6 active + 5 passive), linkage drive, 0.82 lb (370 g) weight, 110.2 lb (50 kg) max load, and <0.008" (<0.20 mm) accuracy.
Linkage Drive Transmission
Linkage drive mechanism provides efficient force transmission, high load capacity, and reliable operation. Optimized for mobile manipulation on the As2 quadruped.
44.3 lb·ft (60 N·m) Torque
7 independent joints driven by low-inertia high-speed inner-rotor PMSM motors. High burst output enables robust manipulation while the quadruped is in motion.
Dual Encoder Per Joint
Each of the 7 arm motors is equipped with a dual encoder system for redundant, high-resolution position feedback, ensuring precise tracking even on uneven terrain.
High-Speed 485 Communication
High-speed 485 communication protocol for the arm. Robust, noise-resistant protocol suitable for the electrically complex environment of a mobile quadruped.
Linker Hand O6 Five-Finger Dexterous Hand
The R1-7a As2 Professional G comes equipped with the Linker Hand O6 five-finger dexterous hand, providing advanced human-like manipulation capability with integrated visual feedback:
Linker Hand O6 -- Standard Equipment
- Type: Five-finger dexterous hand (non-tactile, with RGB camera).
- DOF: 6 active degrees of freedom distributed across the five-finger architecture.
- Joints: 11 total joints (6 active + 5 passive) enabling complex finger articulation and human-like grasping patterns.
- Transmission: Linkage drive -- efficient mechanical force transmission for high load capacity and reliable operation.
- Weight: 0.82 lb (370 g) -- ultra-lightweight design minimizes impact on quadruped dynamics.
- Max Load: 110.2 lb (50 kg) -- exceptional load capacity for a dexterous hand of this size.
- Repeat Positioning Accuracy: <0.008" (<0.20 mm) -- high-precision repeatability for consistent manipulation performance.
- RGB Camera: Integrated camera for on-hand visual feedback during manipulation tasks.
Fingertip Force Specifications
The Linker Hand O6 provides specific force ratings for different grasping configurations:
Fingertip & Grip Force Ratings
- Max Fingertip Force (Thumb): 4.5 lbf (20 N) -- precise force control for thumb-based manipulation and precision pinching.
- Max Fingertip Force (Four Fingers): 5.6 lbf (25 N) per finger -- consistent force delivery across index, middle, ring, and pinky fingers.
- Max Grip Force (Five Fingers): 15.7 lbf (70 N) -- combined five-finger grip force for secure power grasping of heavy objects.
- Force Distribution: Optimized force distribution across all five fingers enables adaptive grasping for various object shapes and sizes.
- Linkage Drive Efficiency: Mechanical linkage transmission ensures efficient force delivery from actuators to fingertips with minimal energy loss.
Integrated RGB Camera
The Linker Hand O6 dexterous hand features an integrated RGB camera, providing critical visual feedback directly at the point of manipulation:
RGB Camera -- Integrated in Dexterous Hand
- On-Hand Vision: Camera positioned at the dexterous hand provides first-person view of the manipulation workspace, enabling precise object identification and positioning.
- Object Recognition: RGB imagery supports real-time object classification, color detection, and feature identification during manipulation tasks.
- Visual Servoing: Close-proximity camera enables visual feedback control loops for precision grasping, alignment, and placement operations.
- Quality Inspection: High-resolution imagery supports in-process quality checks, defect detection, and verification of manipulation outcomes.
- SDK Integration: Full SDK support for camera control, image processing, and integration with arm control systems for coordinated vision-manipulation workflows.
- Reduced External Dependencies: Integrated camera eliminates the need for separate external vision systems on the quadruped for many manipulation tasks.
Five-Finger Architecture
The Linker Hand O6 features a five-finger architecture with 6 active DOF and 5 passive joints across 11 total joints, enabling human-like dexterity and versatile grasping patterns:
Thumb
Opposable thumb design enables precision pinch grasps, power grasps, and complex in-hand manipulation. Critical for human-like dexterity.
Index Finger
Independent articulation for pointing, trigger-style manipulation, and fine tactile exploration. Supports precision and power grasp modes.
Middle Finger
Central finger provides stability and force distribution during object manipulation. Key contributor to power grasp envelope.
Ring Finger
Supports power grasp completion and lateral stabilization. Works in coordination with pinky for secure wrapping of large objects.
Pinky Finger
Completes the five-finger architecture for adaptive grasping and in-hand manipulation of complex objects. Enhances grasp security.
11 Joints (6 Active + 5 Passive)
11 joints distributed across five fingers with 6 active and 5 passive degrees of freedom. Linkage drive enables coordinated finger movement.
Unitree As2 Quadruped Integration
The R1-7a As2 Professional G is engineered for seamless synergy with the Unitree As2 industrial robot dog:
Mobile Manipulation Ready
- Specialized Mounting Interface: Precision-machined mounting pattern ensures perfect, rigid alignment with the As2 robot's backplate, eliminating play during dynamic movement.
- Vibration Resistance: Mounting hardware and arm joint bearings are selected to withstand the vibrations and shocks inherent in quadruped locomotion over rough terrain.
- Weight Optimization: At 12.1 lb (5.5 kg) for the arm plus 0.82 lb (370 g) for the hand, the system is ultra-lightweight, allowing the As2 to maintain its high speed (>5 m/s) and significant payload capacity.
- Unified Power & Data: Designed to integrate cleanly with the As2's power bus and communication network, simplifying cabling and system architecture.
- Mobile Inspection & Interaction: Transforms the As2 from a pure mobility platform into a versatile mobile manipulator capable of opening doors, pressing buttons, and retrieving objects in industrial environments.
- High Load Capacity: The Linker Hand O6's 110.2 lb (50 kg) max load capacity enables the mobile platform to handle heavy industrial objects while on the move.
Left/Right Arm Mirror Configuration
The R1-7a As2 Professional G is available in left-arm and right-arm versions, allowing for flexible single-arm or dual-arm mobile manipulation setups on the quadruped:
Left-Arm & Right-Arm Mirror Versions
- Mirror-Image Design: Left and right arms are precise mirror images of each other, enabling symmetrical bimanual manipulation if two arms are mounted on a custom As2 rig.
- Default Right-Arm SKU: For single-arm mobile manipulation applications, the default configuration is the right-arm SKU. Specify left-arm when required.
- Selection Guidance: When left/right distinction is required, select per actual needs. Both versions share identical technical specifications and performance characteristics.
Ultra-Wide Joint Motion Range
The R1-7a As2 Professional G distributes 7 degrees of freedom across its arm joints with an ultra-wide motion range optimized for mobile manipulation:
- J1 Joint: -156° to 156° | Peak torque 44.3 lb·ft (60 N·m). Provides the primary base rotation for wide workspace coverage from the quadruped's back.
- J2 Joint: 0° to 180° | Peak torque 44.3 lb·ft (60 N·m). Delivers powerful shoulder movement for reaching down to the ground or up to high surfaces.
- J3 Joint: -20° to 200° | Peak torque 44.3 lb·ft (60 N·m). Ultra-wide range enables deep reach and complex spatial positioning around the robot's body.
- J4 Joint: 0° to 180° | Peak torque 44.3 lb·ft (60 N·m). High-speed rotation for rapid orientation changes.
- J5 Joint: -130° to 130° | Peak torque 44.3 lb·ft (60 N·m). Provides precise pitch control for end-effector alignment.
- J6 Joint: -30° to 30° | Peak torque 44.3 lb·ft (60 N·m). Fine-tuned roll adjustment for delicate manipulation tasks.
- J7 Joint: -90° to 90° | Peak torque 44.3 lb·ft (60 N·m). Final joint orientation for exact tool or gripper positioning.
Control System & Interfaces
The R1-7a As2 Professional G provides comprehensive real-time control and flexible integration options for mobile robotics applications:
Arm Communication Protocol
High-speed 485 communication interface for the arm. Robust, noise-resistant protocol suitable for the electrically noisy environment of a mobile quadruped.
Total DOF
13 DOF (7 arm joints + 6 dexterous hand DOF across 11 joints: 6 active + 5 passive). Coordinated control of arm and hand through unified communication interfaces.
Control Methods
SDK and host computer control for seamless integration with the Unitree As2's onboard compute and research platforms.
Operating Temperature
Wide operating range of -4°F to 122°F (-20°C to 50°C). Ensures reliable performance in diverse outdoor and industrial environments.
Power & Consumption
The R1-7a As2 Professional G offers efficient power management optimized for mobile quadruped integration:
Supply Voltage
Wide operating range of 24 V to 60 V DC. Ensures direct compatibility with the Unitree As2's standard robot power bus.
Power Consumption
Peak power 700 W; typical power ≤ 50 W. Highly efficient power management to preserve the quadruped's battery endurance during mobile manipulation.
External Power Supply
Power is drawn from the host system via the XT30 port. Dedicated arm power adapter is NOT included or required when mounted to the As2.
Power & Data Module Kit
Comes with power & data module accessory kit x1 for immediate, clean integration with the quadruped's power and communication systems.
What's Included (Per Arm)
Each R1-7a As2 Professional G package contains the following components:
| Arm | R1-7a Robotic Arm Unit | Complete 7-DOF robotic arm assembly with low-inertia high-speed inner-rotor PMSM motors, dual encoders, and industrial crossed-roller bearings. Specify left or right arm version. |
| Hand | Linker Hand O6 Five-Finger Hand with RGB Camera (x1) | Standard equipment -- Linker Hand O6 five-finger dexterous hand (non-tactile) with 6 DOF, 11 joints (6 active + 5 passive), linkage drive, 0.82 lb (370 g) weight, 110.2 lb (50 kg) max load, <0.008" (<0.20 mm) accuracy, and integrated RGB camera. |
| Mounting Kit | As2 Quadruped Mounting Interface | Specialized mounting hardware and interface plate designed specifically for secure attachment to the Unitree As2 robot dog backplate. |
| Accessory Kit | Power & Data Module Kit (x1) | Power and data module accessory kit for clean integration with the As2's onboard systems. |
| Documentation | Development Documentation | Comprehensive development documentation, SDK reference, API documentation, and As2 integration guidelines. |
Important Notes
- Left/Right arm selection: The R1-7a comes in left-arm and right-arm versions (mirror images). For single-arm mobile applications, default is right-arm SKU. Specify left-arm when required.
- As2 Integration: This package is specifically configured for mounting on the Unitree As2 quadruped robot. Ensure your host platform is compatible.
- Linker Hand O6: Five-finger dexterous hand (non-tactile) with 6 DOF, 11 joints (6 active + 5 passive), linkage drive, 0.82 lb (370 g) weight, 110.2 lb (50 kg) max load, and <0.008" (<0.20 mm) repeat positioning accuracy.
- RGB camera included: The Linker Hand O6 includes an integrated RGB camera for on-hand visual feedback.
- Power integration: Power is supplied via the XT30 port from the host quadruped's power bus (24V-60V). Ensure the As2 power system can handle the 700W peak load during dynamic manipulation.
- Force ratings: Thumb: 4.5 lbf (20 N); Four fingers: 5.6 lbf (25 N) each; Five-finger grip: 15.7 lbf (70 N).
- Communication interfaces: Arm uses high-speed 485. Ensure compatibility with your As2 communication system.
- Technical support: Excellent technical support and comprehensive development documentation provided. Full ecosystem support for mobile quadruped integration.
- 12-month warranty: 12-month warranty on the entire unit. Warranty covers manufacturing defects and normal operational use.
Technical Specifications
| Product Name | R1-7a As2 Professional G |
| Product Series | Unitree R1 Humanoid Robot Arm (As2 Quadruped Configuration) |
| Arm Version | Left-arm or Right-arm (mirror images, default right-arm for single-arm applications) |
| Total Degrees of Freedom | 13 (7 arm joints + 6 dexterous hand DOF) |
| Arm Joint Motors | Low-inertia high-speed inner-rotor PMSM; bionic joint motor with high torque and high burst output |
| Max Joint Torque | 44.3 lb·ft (60 N·m) |
| Joint Feedback | Dual encoders |
| Hand Model | Linker Hand O6 five-finger dexterous hand (non-tactile, with RGB camera) |
| Hand DOF | 6 active |
| Hand Joints | 11 (6 active + 5 passive) |
| Transmission | Linkage drive |
| Hand Weight | 0.82 lb (370 g) |
| Max Load | 110.2 lb (50 kg) |
| Repeat Positioning Accuracy | <0.008" (<0.20 mm) |
| Max Fingertip Force (Thumb) | 4.5 lbf (20 N) |
| Max Fingertip Force (Four Fingers) | 5.6 lbf (25 N) per finger |
| Max Grip Force (Five Fingers) | 15.7 lbf (70 N) |
| RGB Camera | Integrated in Linker Hand O6 Dexterous Hand |
| Mounting Configuration | Specialized interface and hardware for Unitree As2 quadruped robot backplate |
| Arm Communication Protocol | High-speed 485 |
| Supply Voltage | 24 V to 60 V DC |
| Power Consumption | Peak power 700 W; typical power ≤ 50 W |
| Operating Temperature | -4°F to 122°F (-20°C to 50°C) |
| Accessory Kit | Power & data module accessory kit x1 + As2 mounting hardware included |
| Warranty | 12-month warranty on the entire unit |
* Specifications are based on manufacturer data and may vary slightly by production batch.
* The R1-7a As2 Professional G includes all features of the R1-7a Standard arm plus the Linker Hand O6 five-finger dexterous hand (non-tactile, with RGB camera) and specialized mounting hardware for the Unitree As2 quadruped robot.
* Left/right arm versions available (mirror images). Default is right-arm SKU for single-arm applications.
* RGB camera is integrated in the Linker Hand O6 dexterous hand for on-hand visual feedback.
* Power is drawn from the host quadruped via XT30 port (24V-60V). Peak power: 700W. Ensure the As2 power bus can handle dynamic peak loads.
* Hand specifications: 6 DOF, 11 joints (6 active + 5 passive), linkage drive, 0.82 lb (370 g) weight, 110.2 lb (50 kg) max load, <0.008" (<0.20 mm) repeat positioning accuracy.
* Force ratings: Thumb 4.5 lbf (20 N); Four fingers 5.6 lbf (25 N) each; Five-finger grip 15.7 lbf (70 N).
* Secondary development requires advanced programming skills and familiarity with multi-DOF robotics control and mobile quadruped integration.
* Unitree and As2 are registered trademarks of Unitree Robotics. Linker is a trademark of Linker Robotics.
Description
Unitree Robotics -- Official Robotic Arm
Unitree R1-7a As2 Professional G
R1 Series
Professional G
13 DOF (7+6)
As2 Quadruped Ready
RGB Camera
Linker Hand O6
0.82 lb Hand
Left/Right Versions
Official 13-DOF mobile manipulation system designed for the Unitree As2 industrial quadruped robot. The R1-7a As2 Professional G combines the R1-7a Standard arm with the Linker Hand O6 five-finger dexterous hand (non-tactile, with RGB camera) and specialized As2 adapter base for immediate deployment. Featuring 13 total degrees of freedom (7 arm joints + 6 dexterous hand DOF across 11 joints: 6 active + 5 passive), linkage drive transmission, ultra-lightweight 0.82 lb (370 g) hand with 110.2 lb (50 kg) max load capacity, and <0.008" (<0.20 mm) repeat positioning accuracy. Complete mobile manipulation solution with five-finger dexterity and integrated vision. Available in left-arm and right-arm mirror-image versions.
13
Total DOF
44.3 lb·ft
Max Arm Torque
0.82 lb
Hand Weight
110.2 lb
Max Load
<0.008"
Repeat Accuracy
As2
Quadruped Mount
Professional G vs. Professional E/F: The R1-7a As2 Professional G features the Linker Hand O6 five-finger dexterous hand (non-tactile, with RGB camera), bringing the total system to 13 DOF (7 arm + 6 hand across 11 joints: 6 active + 5 passive). Unlike the BrainCo hands in Professional E/F, the Linker Hand O6 uses linkage drive transmission, weighs only 0.82 lb (370 g), supports 110.2 lb (50 kg) max load, and delivers <0.008" (<0.20 mm) repeat positioning accuracy with specific fingertip force ratings.
Product Overview
The Unitree R1-7a As2 Professional G is a complete 13-DOF mobile manipulation system designed to transform the Unitree As2 industrial quadruped into a highly capable mobile worker with advanced five-finger dexterity. Building on the proven R1-7a Standard arm with its 7 degrees of freedom and 44.3 lb·ft (60 N·m) maximum joint torque, the Professional G variant adds the Linker Hand O6 five-finger dexterous hand (non-tactile, with RGB camera) and As2 adapter base as standard equipment.
The arm features low-inertia high-speed inner-rotor PMSM bionic joint motors with high burst output, housed in a lightweight 12.1 lb (5.5 kg) metal body. The integrated Linker Hand O6 dexterous hand features a five-finger architecture with 6 DOF, 11 joints (6 active + 5 passive), linkage drive transmission, <0.008" (<0.20 mm) repeat positioning accuracy, ultra-lightweight 0.82 lb (370 g) construction, and 110.2 lb (50 kg) max load capacity. The hand includes an integrated RGB camera for visual feedback. The specialized As2 mounting interface ensures secure, vibration-resistant attachment to the robot dog's back. Each arm joint utilizes dual encoders for precise feedback. Supports high-speed 485 communication for the arm.
13-DOF Complete System
7 arm joints plus 6 dexterous hand DOF (6 active + 5 passive joints) deliver a fully integrated five-finger manipulation solution. Linker Hand O6 with RGB camera and As2 mounting base included.
Linker Hand O6 Five-Finger Hand
Five-finger dexterous hand with 6 DOF, 11 joints (6 active + 5 passive), linkage drive, 0.82 lb (370 g) weight, 110.2 lb (50 kg) max load, and <0.008" (<0.20 mm) accuracy.
Linkage Drive Transmission
Linkage drive mechanism provides efficient force transmission, high load capacity, and reliable operation. Optimized for mobile manipulation on the As2 quadruped.
44.3 lb·ft (60 N·m) Torque
7 independent joints driven by low-inertia high-speed inner-rotor PMSM motors. High burst output enables robust manipulation while the quadruped is in motion.
Dual Encoder Per Joint
Each of the 7 arm motors is equipped with a dual encoder system for redundant, high-resolution position feedback, ensuring precise tracking even on uneven terrain.
High-Speed 485 Communication
High-speed 485 communication protocol for the arm. Robust, noise-resistant protocol suitable for the electrically complex environment of a mobile quadruped.
Linker Hand O6 Five-Finger Dexterous Hand
The R1-7a As2 Professional G comes equipped with the Linker Hand O6 five-finger dexterous hand, providing advanced human-like manipulation capability with integrated visual feedback:
Linker Hand O6 -- Standard Equipment
- Type: Five-finger dexterous hand (non-tactile, with RGB camera).
- DOF: 6 active degrees of freedom distributed across the five-finger architecture.
- Joints: 11 total joints (6 active + 5 passive) enabling complex finger articulation and human-like grasping patterns.
- Transmission: Linkage drive -- efficient mechanical force transmission for high load capacity and reliable operation.
- Weight: 0.82 lb (370 g) -- ultra-lightweight design minimizes impact on quadruped dynamics.
- Max Load: 110.2 lb (50 kg) -- exceptional load capacity for a dexterous hand of this size.
- Repeat Positioning Accuracy: <0.008" (<0.20 mm) -- high-precision repeatability for consistent manipulation performance.
- RGB Camera: Integrated camera for on-hand visual feedback during manipulation tasks.
Fingertip Force Specifications
The Linker Hand O6 provides specific force ratings for different grasping configurations:
Fingertip & Grip Force Ratings
- Max Fingertip Force (Thumb): 4.5 lbf (20 N) -- precise force control for thumb-based manipulation and precision pinching.
- Max Fingertip Force (Four Fingers): 5.6 lbf (25 N) per finger -- consistent force delivery across index, middle, ring, and pinky fingers.
- Max Grip Force (Five Fingers): 15.7 lbf (70 N) -- combined five-finger grip force for secure power grasping of heavy objects.
- Force Distribution: Optimized force distribution across all five fingers enables adaptive grasping for various object shapes and sizes.
- Linkage Drive Efficiency: Mechanical linkage transmission ensures efficient force delivery from actuators to fingertips with minimal energy loss.
Integrated RGB Camera
The Linker Hand O6 dexterous hand features an integrated RGB camera, providing critical visual feedback directly at the point of manipulation:
RGB Camera -- Integrated in Dexterous Hand
- On-Hand Vision: Camera positioned at the dexterous hand provides first-person view of the manipulation workspace, enabling precise object identification and positioning.
- Object Recognition: RGB imagery supports real-time object classification, color detection, and feature identification during manipulation tasks.
- Visual Servoing: Close-proximity camera enables visual feedback control loops for precision grasping, alignment, and placement operations.
- Quality Inspection: High-resolution imagery supports in-process quality checks, defect detection, and verification of manipulation outcomes.
- SDK Integration: Full SDK support for camera control, image processing, and integration with arm control systems for coordinated vision-manipulation workflows.
- Reduced External Dependencies: Integrated camera eliminates the need for separate external vision systems on the quadruped for many manipulation tasks.
Five-Finger Architecture
The Linker Hand O6 features a five-finger architecture with 6 active DOF and 5 passive joints across 11 total joints, enabling human-like dexterity and versatile grasping patterns:
Thumb
Opposable thumb design enables precision pinch grasps, power grasps, and complex in-hand manipulation. Critical for human-like dexterity.
Index Finger
Independent articulation for pointing, trigger-style manipulation, and fine tactile exploration. Supports precision and power grasp modes.
Middle Finger
Central finger provides stability and force distribution during object manipulation. Key contributor to power grasp envelope.
Ring Finger
Supports power grasp completion and lateral stabilization. Works in coordination with pinky for secure wrapping of large objects.
Pinky Finger
Completes the five-finger architecture for adaptive grasping and in-hand manipulation of complex objects. Enhances grasp security.
11 Joints (6 Active + 5 Passive)
11 joints distributed across five fingers with 6 active and 5 passive degrees of freedom. Linkage drive enables coordinated finger movement.
Unitree As2 Quadruped Integration
The R1-7a As2 Professional G is engineered for seamless synergy with the Unitree As2 industrial robot dog:
Mobile Manipulation Ready
- Specialized Mounting Interface: Precision-machined mounting pattern ensures perfect, rigid alignment with the As2 robot's backplate, eliminating play during dynamic movement.
- Vibration Resistance: Mounting hardware and arm joint bearings are selected to withstand the vibrations and shocks inherent in quadruped locomotion over rough terrain.
- Weight Optimization: At 12.1 lb (5.5 kg) for the arm plus 0.82 lb (370 g) for the hand, the system is ultra-lightweight, allowing the As2 to maintain its high speed (>5 m/s) and significant payload capacity.
- Unified Power & Data: Designed to integrate cleanly with the As2's power bus and communication network, simplifying cabling and system architecture.
- Mobile Inspection & Interaction: Transforms the As2 from a pure mobility platform into a versatile mobile manipulator capable of opening doors, pressing buttons, and retrieving objects in industrial environments.
- High Load Capacity: The Linker Hand O6's 110.2 lb (50 kg) max load capacity enables the mobile platform to handle heavy industrial objects while on the move.
Left/Right Arm Mirror Configuration
The R1-7a As2 Professional G is available in left-arm and right-arm versions, allowing for flexible single-arm or dual-arm mobile manipulation setups on the quadruped:
Left-Arm & Right-Arm Mirror Versions
- Mirror-Image Design: Left and right arms are precise mirror images of each other, enabling symmetrical bimanual manipulation if two arms are mounted on a custom As2 rig.
- Default Right-Arm SKU: For single-arm mobile manipulation applications, the default configuration is the right-arm SKU. Specify left-arm when required.
- Selection Guidance: When left/right distinction is required, select per actual needs. Both versions share identical technical specifications and performance characteristics.
Ultra-Wide Joint Motion Range
The R1-7a As2 Professional G distributes 7 degrees of freedom across its arm joints with an ultra-wide motion range optimized for mobile manipulation:
- J1 Joint: -156° to 156° | Peak torque 44.3 lb·ft (60 N·m). Provides the primary base rotation for wide workspace coverage from the quadruped's back.
- J2 Joint: 0° to 180° | Peak torque 44.3 lb·ft (60 N·m). Delivers powerful shoulder movement for reaching down to the ground or up to high surfaces.
- J3 Joint: -20° to 200° | Peak torque 44.3 lb·ft (60 N·m). Ultra-wide range enables deep reach and complex spatial positioning around the robot's body.
- J4 Joint: 0° to 180° | Peak torque 44.3 lb·ft (60 N·m). High-speed rotation for rapid orientation changes.
- J5 Joint: -130° to 130° | Peak torque 44.3 lb·ft (60 N·m). Provides precise pitch control for end-effector alignment.
- J6 Joint: -30° to 30° | Peak torque 44.3 lb·ft (60 N·m). Fine-tuned roll adjustment for delicate manipulation tasks.
- J7 Joint: -90° to 90° | Peak torque 44.3 lb·ft (60 N·m). Final joint orientation for exact tool or gripper positioning.
Control System & Interfaces
The R1-7a As2 Professional G provides comprehensive real-time control and flexible integration options for mobile robotics applications:
Arm Communication Protocol
High-speed 485 communication interface for the arm. Robust, noise-resistant protocol suitable for the electrically noisy environment of a mobile quadruped.
Total DOF
13 DOF (7 arm joints + 6 dexterous hand DOF across 11 joints: 6 active + 5 passive). Coordinated control of arm and hand through unified communication interfaces.
Control Methods
SDK and host computer control for seamless integration with the Unitree As2's onboard compute and research platforms.
Operating Temperature
Wide operating range of -4°F to 122°F (-20°C to 50°C). Ensures reliable performance in diverse outdoor and industrial environments.
Power & Consumption
The R1-7a As2 Professional G offers efficient power management optimized for mobile quadruped integration:
Supply Voltage
Wide operating range of 24 V to 60 V DC. Ensures direct compatibility with the Unitree As2's standard robot power bus.
Power Consumption
Peak power 700 W; typical power ≤ 50 W. Highly efficient power management to preserve the quadruped's battery endurance during mobile manipulation.
External Power Supply
Power is drawn from the host system via the XT30 port. Dedicated arm power adapter is NOT included or required when mounted to the As2.
Power & Data Module Kit
Comes with power & data module accessory kit x1 for immediate, clean integration with the quadruped's power and communication systems.
What's Included (Per Arm)
Each R1-7a As2 Professional G package contains the following components:
| Arm | R1-7a Robotic Arm Unit | Complete 7-DOF robotic arm assembly with low-inertia high-speed inner-rotor PMSM motors, dual encoders, and industrial crossed-roller bearings. Specify left or right arm version. |
| Hand | Linker Hand O6 Five-Finger Hand with RGB Camera (x1) | Standard equipment -- Linker Hand O6 five-finger dexterous hand (non-tactile) with 6 DOF, 11 joints (6 active + 5 passive), linkage drive, 0.82 lb (370 g) weight, 110.2 lb (50 kg) max load, <0.008" (<0.20 mm) accuracy, and integrated RGB camera. |
| Mounting Kit | As2 Quadruped Mounting Interface | Specialized mounting hardware and interface plate designed specifically for secure attachment to the Unitree As2 robot dog backplate. |
| Accessory Kit | Power & Data Module Kit (x1) | Power and data module accessory kit for clean integration with the As2's onboard systems. |
| Documentation | Development Documentation | Comprehensive development documentation, SDK reference, API documentation, and As2 integration guidelines. |
Important Notes
- Left/Right arm selection: The R1-7a comes in left-arm and right-arm versions (mirror images). For single-arm mobile applications, default is right-arm SKU. Specify left-arm when required.
- As2 Integration: This package is specifically configured for mounting on the Unitree As2 quadruped robot. Ensure your host platform is compatible.
- Linker Hand O6: Five-finger dexterous hand (non-tactile) with 6 DOF, 11 joints (6 active + 5 passive), linkage drive, 0.82 lb (370 g) weight, 110.2 lb (50 kg) max load, and <0.008" (<0.20 mm) repeat positioning accuracy.
- RGB camera included: The Linker Hand O6 includes an integrated RGB camera for on-hand visual feedback.
- Power integration: Power is supplied via the XT30 port from the host quadruped's power bus (24V-60V). Ensure the As2 power system can handle the 700W peak load during dynamic manipulation.
- Force ratings: Thumb: 4.5 lbf (20 N); Four fingers: 5.6 lbf (25 N) each; Five-finger grip: 15.7 lbf (70 N).
- Communication interfaces: Arm uses high-speed 485. Ensure compatibility with your As2 communication system.
- Technical support: Excellent technical support and comprehensive development documentation provided. Full ecosystem support for mobile quadruped integration.
- 12-month warranty: 12-month warranty on the entire unit. Warranty covers manufacturing defects and normal operational use.
Technical Specifications
| Product Name | R1-7a As2 Professional G |
| Product Series | Unitree R1 Humanoid Robot Arm (As2 Quadruped Configuration) |
| Arm Version | Left-arm or Right-arm (mirror images, default right-arm for single-arm applications) |
| Total Degrees of Freedom | 13 (7 arm joints + 6 dexterous hand DOF) |
| Arm Joint Motors | Low-inertia high-speed inner-rotor PMSM; bionic joint motor with high torque and high burst output |
| Max Joint Torque | 44.3 lb·ft (60 N·m) |
| Joint Feedback | Dual encoders |
| Hand Model | Linker Hand O6 five-finger dexterous hand (non-tactile, with RGB camera) |
| Hand DOF | 6 active |
| Hand Joints | 11 (6 active + 5 passive) |
| Transmission | Linkage drive |
| Hand Weight | 0.82 lb (370 g) |
| Max Load | 110.2 lb (50 kg) |
| Repeat Positioning Accuracy | <0.008" (<0.20 mm) |
| Max Fingertip Force (Thumb) | 4.5 lbf (20 N) |
| Max Fingertip Force (Four Fingers) | 5.6 lbf (25 N) per finger |
| Max Grip Force (Five Fingers) | 15.7 lbf (70 N) |
| RGB Camera | Integrated in Linker Hand O6 Dexterous Hand |
| Mounting Configuration | Specialized interface and hardware for Unitree As2 quadruped robot backplate |
| Arm Communication Protocol | High-speed 485 |
| Supply Voltage | 24 V to 60 V DC |
| Power Consumption | Peak power 700 W; typical power ≤ 50 W |
| Operating Temperature | -4°F to 122°F (-20°C to 50°C) |
| Accessory Kit | Power & data module accessory kit x1 + As2 mounting hardware included |
| Warranty | 12-month warranty on the entire unit |
* Specifications are based on manufacturer data and may vary slightly by production batch.
* The R1-7a As2 Professional G includes all features of the R1-7a Standard arm plus the Linker Hand O6 five-finger dexterous hand (non-tactile, with RGB camera) and specialized mounting hardware for the Unitree As2 quadruped robot.
* Left/right arm versions available (mirror images). Default is right-arm SKU for single-arm applications.
* RGB camera is integrated in the Linker Hand O6 dexterous hand for on-hand visual feedback.
* Power is drawn from the host quadruped via XT30 port (24V-60V). Peak power: 700W. Ensure the As2 power bus can handle dynamic peak loads.
* Hand specifications: 6 DOF, 11 joints (6 active + 5 passive), linkage drive, 0.82 lb (370 g) weight, 110.2 lb (50 kg) max load, <0.008" (<0.20 mm) repeat positioning accuracy.
* Force ratings: Thumb 4.5 lbf (20 N); Four fingers 5.6 lbf (25 N) each; Five-finger grip 15.7 lbf (70 N).
* Secondary development requires advanced programming skills and familiarity with multi-DOF robotics control and mobile quadruped integration.
* Unitree and As2 are registered trademarks of Unitree Robotics. Linker is a trademark of Linker Robotics.
Unitree
by
Unitree
Unitree R1-7a As2 Professional G Robotic Arm
SKU:
R1-7A-AS2-PROFESSIONAL-G-ARM
- Regular price
- $3,999.00
- Sale price
- $3,999.00
- Regular price
-
Shipping calculated at checkout.
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Packaging note:
Equipment is being supplied in a manufacturer packaging
