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Description
Unitree Robotics -- Official Robotic Arm
Unitree R1-7a As2 Professional I
R1 Series Professional I 9 DOF (7+2) As2 Quadruped Ready 0.80 lb Hand No External Cables No Wrist Camera Left/Right Versions
Official 9-DOF mobile manipulation system designed for the Unitree As2 industrial quadruped robot. The R1-7a As2 Professional I combines the R1-7a Standard arm with the Dex2/5 Dexterous Hand and specialized As2 adapter base for immediate deployment. Featuring 9 total degrees of freedom (7 arm joints + 2 dexterous hand DOF across 10 joints: 8 passive finger joints + 2 active thumb joints), an ultra-lightweight 0.80 lb (365 g) hand, and no external cabling between the dexterous hand and body. Clean, compact, and highly reliable mobile manipulation solution. Available in left-arm and right-arm mirror-image versions.
9
Total DOF
44.3 lb·ft
Max Arm Torque
0.80 lb
Hand Weight
10
Hand Joints
2.25 lbf
Fingertip Force
As2
Quadruped Mount
Professional I -- Compact & Reliable Mobile Design: The R1-7a As2 Professional I features the Dex2/5 Dexterous Hand with a unique minimalist architecture: 2 active DOF (thumb) and 8 passive joints (four fingers) across 10 total joints. At just 0.80 lb (365 g), it is one of the lightest dexterous hands in the R1-7a lineup. The no external cabling design between hand and body delivers a clean, compact, and highly reliable solution -- ideal for mobile manipulation on the As2 quadruped where cable management and long-term durability are critical.
No Wrist Camera: This model does not include a wrist camera. Visual perception for mobile manipulation tasks must be implemented through the As2 robot's existing vision system or external sensors.
Product Overview
The Unitree R1-7a As2 Professional I is a compact 9-DOF mobile manipulation system designed to transform the Unitree As2 industrial quadruped into a highly capable mobile worker. 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 I variant adds the Dex2/5 Dexterous Hand 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 Dex2/5 dexterous hand features a minimalist architecture with 2 active DOF (thumb), 8 passive joints (four fingers), 2.25 lbf (10 N) fingertip force, and ultra-lightweight 0.80 lb (365 g) construction. A key differentiator is the no external cabling between dexterous hand and body design, delivering a clean, compact, and highly reliable integration for mobile operation. 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.
9-DOF Complete System
7 arm joints plus 2 dexterous hand DOF (8 passive finger joints + 2 active thumb joints) deliver a compact, reliable mobile manipulation solution. Dex2/5 hand and As2 mounting base included.
Dex2/5 Dexterous Hand
Minimalist five-finger hand with 2 active DOF, 10 joints (8 passive + 2 active), 0.80 lb (365 g) weight, 2.25 lbf (10 N) fingertip force, and 24-58V operation.
No External Cabling
Clean, compact design with no external cables between dexterous hand and body. Eliminates cable wear, snagging, and maintenance issues for high reliability during mobile operation.
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.
Dex2/5 Dexterous Hand
The R1-7a As2 Professional I comes equipped with the Dex2/5 Dexterous Hand, providing a minimalist, highly reliable manipulation solution for mobile operation:
Dex2/5 Dexterous Hand -- Standard Equipment
- Type: Five-finger dexterous hand (no tactile sensing, no wrist camera).
- DOF: 2 active degrees of freedom (thumb).
- Joints: 10 total joints -- 8 joints for four fingers (passive), 2 joints for thumb (active).
- Dimensions: 5.94" x 2.64" x 2.76" (151 x 67 x 70 mm) -- compact form factor optimized for mobile manipulation.
- Weight: 0.80 lb (365 g) -- ultra-lightweight design minimizes impact on quadruped dynamics.
- Operating Voltage: 24-58V DC -- matches arm power bus for simplified integration.
- Fingertip Force: 2.25 lbf (10 N) -- consistent force delivery for precision manipulation.
- No External Cabling: Clean, compact design with no external cables between hand and body for maximum reliability during mobile operation.
No External Cabling Design
The Dex2/5 dexterous hand features a no external cabling architecture between the hand and arm body, providing significant reliability advantages for mobile manipulation:
Clean, Compact & Highly Reliable
- Eliminated Cable Wear: No external cables means no cable fatigue, fraying, or breakage over time -- critical for long-term reliability during continuous mobile operation.
- No Snagging Risk: Clean external profile eliminates cable snagging hazards during manipulation, especially important in cluttered or dynamic environments.
- Reduced Maintenance: Fewer connection points and no external cable management required, reducing maintenance intervals and downtime in the field.
- Compact Integration: Streamlined hand-to-arm interface reduces overall system envelope, enabling operation in tighter spaces and improving aerodynamics during high-speed locomotion.
- Improved Durability: Internal signal and power routing protects connections from environmental exposure, dust, moisture, and accidental damage during outdoor operation.
- Enhanced Reliability: Simplified architecture with fewer failure points ensures consistent performance during critical mobile manipulation tasks.
Five-Finger Architecture
The Dex2/5 features a five-finger architecture with 2 active DOF (thumb) and 8 passive joints (four fingers) across 10 total joints, enabling adaptive grasping with minimal actuation complexity:
Thumb (2 Active Joints)
Two active joints provide opposable thumb motion for precision pinch grasps and power grasps. Primary actuated element of the hand.
Four Fingers (8 Passive Joints)
Two passive joints per finger (index, middle, ring, pinky) enable adaptive conforming grasp. Fingers passively wrap around objects during thumb opposition.
Adaptive Grasping
Passive finger joints automatically conform to object shape during thumb closure, enabling versatile grasping of various object geometries with minimal control complexity.
2.25 lbf (10 N) Fingertip Force
Consistent 2.25 lbf (10 N) fingertip force enables secure grasping of lightweight to medium-weight objects while maintaining safe interaction.
Simplified Control
Only 2 active DOF to control reduces computational complexity and simplifies integration with the As2 quadruped's control systems.
10 Total Joints
10 joints distributed across five fingers (8 passive + 2 active) provide mechanical compliance and adaptive grasping capability.
Unitree As2 Quadruped Integration
The R1-7a As2 Professional I 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 0.80 lb (365 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.
- No External Cabling Advantage: Clean design with no external cables between hand and body ensures maximum reliability during high-speed locomotion and dynamic manipulation tasks.
Left/Right Arm Mirror Configuration
The R1-7a As2 Professional I 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 I 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 I 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
9 DOF (7 arm joints + 2 dexterous hand DOF across 10 joints). Simplified control architecture with 2 active hand DOF.
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 I 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 I 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 | Dex2/5 Dexterous Hand (x1) | Standard equipment -- Dex2/5 five-finger dexterous hand with 2 active DOF, 10 joints (8 passive + 2 active), 0.80 lb (365 g) weight, 2.25 lbf (10 N) fingertip force, no external cabling. |
| 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.
- Dex2/5 hand: Five-finger dexterous hand with 2 active DOF (thumb), 10 total joints (8 passive finger joints + 2 active thumb joints), 0.80 lb (365 g) weight, and 2.25 lbf (10 N) fingertip force.
- No tactile sensing: This hand does not include tactile sensors. Force estimation must be implemented through motor current feedback if required.
- No wrist camera: Unlike Professional E/F/G/H variants, this model does not include a wrist camera. External vision systems required for visual feedback.
- No external cabling: Clean design with no external cables between dexterous hand and body -- improves reliability and reduces maintenance during mobile operation.
- 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.
- Hand operating voltage: 24-58V DC -- compatible with arm power bus for simplified integration.
- 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 I |
| 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 | 9 (7 arm joints + 2 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 | Dex2/5 Dexterous Hand |
| Hand DOF (Active) | 2 (thumb) |
| Hand Joints | 10 total (8 joints for four fingers [passive], 2 joints for thumb [active]) |
| Hand Dimensions | 5.94" x 2.64" x 2.76" (151 x 67 x 70 mm) |
| Hand Weight | 0.80 lb (365 g) |
| Hand Operating Voltage | 24-58V DC |
| Fingertip Force | 2.25 lbf (10 N) |
| Tactile Sensing | None |
| Wrist Camera | Not included |
| External Cabling (Hand-to-Body) | None -- clean, compact, highly reliable design |
| 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 I includes all features of the R1-7a Standard arm plus the Dex2/5 dexterous hand 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.
* Dex2/5 hand features no tactile sensing and no wrist camera. External vision systems required for visual feedback.
* No external cabling between dexterous hand and body -- clean, compact, and highly reliable design for mobile operation.
* 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: 2 active DOF (thumb), 10 total joints (8 passive + 2 active), 0.80 lb (365 g) weight, 2.25 lbf (10 N) fingertip force, 24-58V operating voltage.
* 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.
Description
Unitree Robotics -- Official Robotic Arm
Unitree R1-7a As2 Professional I
R1 Series Professional I 9 DOF (7+2) As2 Quadruped Ready 0.80 lb Hand No External Cables No Wrist Camera Left/Right Versions
Official 9-DOF mobile manipulation system designed for the Unitree As2 industrial quadruped robot. The R1-7a As2 Professional I combines the R1-7a Standard arm with the Dex2/5 Dexterous Hand and specialized As2 adapter base for immediate deployment. Featuring 9 total degrees of freedom (7 arm joints + 2 dexterous hand DOF across 10 joints: 8 passive finger joints + 2 active thumb joints), an ultra-lightweight 0.80 lb (365 g) hand, and no external cabling between the dexterous hand and body. Clean, compact, and highly reliable mobile manipulation solution. Available in left-arm and right-arm mirror-image versions.
9
Total DOF
44.3 lb·ft
Max Arm Torque
0.80 lb
Hand Weight
10
Hand Joints
2.25 lbf
Fingertip Force
As2
Quadruped Mount
Professional I -- Compact & Reliable Mobile Design: The R1-7a As2 Professional I features the Dex2/5 Dexterous Hand with a unique minimalist architecture: 2 active DOF (thumb) and 8 passive joints (four fingers) across 10 total joints. At just 0.80 lb (365 g), it is one of the lightest dexterous hands in the R1-7a lineup. The no external cabling design between hand and body delivers a clean, compact, and highly reliable solution -- ideal for mobile manipulation on the As2 quadruped where cable management and long-term durability are critical.
No Wrist Camera: This model does not include a wrist camera. Visual perception for mobile manipulation tasks must be implemented through the As2 robot's existing vision system or external sensors.
Product Overview
The Unitree R1-7a As2 Professional I is a compact 9-DOF mobile manipulation system designed to transform the Unitree As2 industrial quadruped into a highly capable mobile worker. 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 I variant adds the Dex2/5 Dexterous Hand 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 Dex2/5 dexterous hand features a minimalist architecture with 2 active DOF (thumb), 8 passive joints (four fingers), 2.25 lbf (10 N) fingertip force, and ultra-lightweight 0.80 lb (365 g) construction. A key differentiator is the no external cabling between dexterous hand and body design, delivering a clean, compact, and highly reliable integration for mobile operation. 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.
9-DOF Complete System
7 arm joints plus 2 dexterous hand DOF (8 passive finger joints + 2 active thumb joints) deliver a compact, reliable mobile manipulation solution. Dex2/5 hand and As2 mounting base included.
Dex2/5 Dexterous Hand
Minimalist five-finger hand with 2 active DOF, 10 joints (8 passive + 2 active), 0.80 lb (365 g) weight, 2.25 lbf (10 N) fingertip force, and 24-58V operation.
No External Cabling
Clean, compact design with no external cables between dexterous hand and body. Eliminates cable wear, snagging, and maintenance issues for high reliability during mobile operation.
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.
Dex2/5 Dexterous Hand
The R1-7a As2 Professional I comes equipped with the Dex2/5 Dexterous Hand, providing a minimalist, highly reliable manipulation solution for mobile operation:
Dex2/5 Dexterous Hand -- Standard Equipment
- Type: Five-finger dexterous hand (no tactile sensing, no wrist camera).
- DOF: 2 active degrees of freedom (thumb).
- Joints: 10 total joints -- 8 joints for four fingers (passive), 2 joints for thumb (active).
- Dimensions: 5.94" x 2.64" x 2.76" (151 x 67 x 70 mm) -- compact form factor optimized for mobile manipulation.
- Weight: 0.80 lb (365 g) -- ultra-lightweight design minimizes impact on quadruped dynamics.
- Operating Voltage: 24-58V DC -- matches arm power bus for simplified integration.
- Fingertip Force: 2.25 lbf (10 N) -- consistent force delivery for precision manipulation.
- No External Cabling: Clean, compact design with no external cables between hand and body for maximum reliability during mobile operation.
No External Cabling Design
The Dex2/5 dexterous hand features a no external cabling architecture between the hand and arm body, providing significant reliability advantages for mobile manipulation:
Clean, Compact & Highly Reliable
- Eliminated Cable Wear: No external cables means no cable fatigue, fraying, or breakage over time -- critical for long-term reliability during continuous mobile operation.
- No Snagging Risk: Clean external profile eliminates cable snagging hazards during manipulation, especially important in cluttered or dynamic environments.
- Reduced Maintenance: Fewer connection points and no external cable management required, reducing maintenance intervals and downtime in the field.
- Compact Integration: Streamlined hand-to-arm interface reduces overall system envelope, enabling operation in tighter spaces and improving aerodynamics during high-speed locomotion.
- Improved Durability: Internal signal and power routing protects connections from environmental exposure, dust, moisture, and accidental damage during outdoor operation.
- Enhanced Reliability: Simplified architecture with fewer failure points ensures consistent performance during critical mobile manipulation tasks.
Five-Finger Architecture
The Dex2/5 features a five-finger architecture with 2 active DOF (thumb) and 8 passive joints (four fingers) across 10 total joints, enabling adaptive grasping with minimal actuation complexity:
Thumb (2 Active Joints)
Two active joints provide opposable thumb motion for precision pinch grasps and power grasps. Primary actuated element of the hand.
Four Fingers (8 Passive Joints)
Two passive joints per finger (index, middle, ring, pinky) enable adaptive conforming grasp. Fingers passively wrap around objects during thumb opposition.
Adaptive Grasping
Passive finger joints automatically conform to object shape during thumb closure, enabling versatile grasping of various object geometries with minimal control complexity.
2.25 lbf (10 N) Fingertip Force
Consistent 2.25 lbf (10 N) fingertip force enables secure grasping of lightweight to medium-weight objects while maintaining safe interaction.
Simplified Control
Only 2 active DOF to control reduces computational complexity and simplifies integration with the As2 quadruped's control systems.
10 Total Joints
10 joints distributed across five fingers (8 passive + 2 active) provide mechanical compliance and adaptive grasping capability.
Unitree As2 Quadruped Integration
The R1-7a As2 Professional I 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 0.80 lb (365 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.
- No External Cabling Advantage: Clean design with no external cables between hand and body ensures maximum reliability during high-speed locomotion and dynamic manipulation tasks.
Left/Right Arm Mirror Configuration
The R1-7a As2 Professional I 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 I 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 I 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
9 DOF (7 arm joints + 2 dexterous hand DOF across 10 joints). Simplified control architecture with 2 active hand DOF.
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 I 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 I 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 | Dex2/5 Dexterous Hand (x1) | Standard equipment -- Dex2/5 five-finger dexterous hand with 2 active DOF, 10 joints (8 passive + 2 active), 0.80 lb (365 g) weight, 2.25 lbf (10 N) fingertip force, no external cabling. |
| 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.
- Dex2/5 hand: Five-finger dexterous hand with 2 active DOF (thumb), 10 total joints (8 passive finger joints + 2 active thumb joints), 0.80 lb (365 g) weight, and 2.25 lbf (10 N) fingertip force.
- No tactile sensing: This hand does not include tactile sensors. Force estimation must be implemented through motor current feedback if required.
- No wrist camera: Unlike Professional E/F/G/H variants, this model does not include a wrist camera. External vision systems required for visual feedback.
- No external cabling: Clean design with no external cables between dexterous hand and body -- improves reliability and reduces maintenance during mobile operation.
- 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.
- Hand operating voltage: 24-58V DC -- compatible with arm power bus for simplified integration.
- 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 I |
| 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 | 9 (7 arm joints + 2 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 | Dex2/5 Dexterous Hand |
| Hand DOF (Active) | 2 (thumb) |
| Hand Joints | 10 total (8 joints for four fingers [passive], 2 joints for thumb [active]) |
| Hand Dimensions | 5.94" x 2.64" x 2.76" (151 x 67 x 70 mm) |
| Hand Weight | 0.80 lb (365 g) |
| Hand Operating Voltage | 24-58V DC |
| Fingertip Force | 2.25 lbf (10 N) |
| Tactile Sensing | None |
| Wrist Camera | Not included |
| External Cabling (Hand-to-Body) | None -- clean, compact, highly reliable design |
| 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 I includes all features of the R1-7a Standard arm plus the Dex2/5 dexterous hand 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.
* Dex2/5 hand features no tactile sensing and no wrist camera. External vision systems required for visual feedback.
* No external cabling between dexterous hand and body -- clean, compact, and highly reliable design for mobile operation.
* 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: 2 active DOF (thumb), 10 total joints (8 passive + 2 active), 0.80 lb (365 g) weight, 2.25 lbf (10 N) fingertip force, 24-58V operating voltage.
* 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.
Unitree
by
Unitree
Unitree R1-7a As2 Professional I Robotic Arm
SKU:
R1-7A-AS2-PROFESSIONAL-I-ARM
- Regular price
- $3,899.00
- Sale price
- $3,899.00
- Regular price
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- Unit price
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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
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$3,899
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