Robotic Hands UNITREE G1 Dex3-1 L+R DX31-214N

Price: 15131.50 €

Products ID:	195430
Manufactured by:	Unitree
Availablity:	Ready to Order
Delivery Time	5-12 business days
EAN:	5905156112056

Delivery options to:

Choose country

The UNITREE G1 Dex3-1 set includes a left and right three-fingered robotic hand designed to work with the UNITREE G1 humanoid robot. Each hand provides 7 degrees of freedom and utilizes 7 miniature brushless joints with force control.

Precise Movement and Joint Articulation

Each Dex3-1 hand features three articulated fingers: the thumb has 3 degrees of freedom, the index finger has 2, and the middle finger has 2. The extensive range of motion of each joint supports complex grasping postures across multiple planes, while fingertip positioning repeatability of ±2 mm ensures reliable, repeatable motions.

Hybrid Force Control and Motor Drives

UNITREE Dex3-1 applies hybrid force and position control for versatile operational dynamics. The mechanical design of each hand integrates 6 direct-drive brushless motors and 1 geared motor using F-1515-108 and F-1515-214 joint modules, enabling precise control of torque, angle, angular velocity, stiffness, and damping.

High-Frequency Communication and Feedback

Operating via a USB 2.0 interface with a communication frequency of 1000 Hz, the system provides real-time telemetry. Sensing feedback covers joint mode, position, velocity, torque, temperature, voltage, current, and IMU data, while internal joint communication runs over High Speed Unibus.

Manufacturer	UNITREE
Model	DX31-214N
Compatibility	UNITREE G1
Weight	710 g
Dimensions	175 × 88 × 77 mm (when extended)
Degrees of Freedom	Thumb ×3, Index finger ×2, Middle finger ×2
Drive Mechanism	6 direct-drive motors, 1 gear-driven motor
Joint Range of Motion	Thumb joint 0: -60° to 60°; Thumb joint 1: -35° to 60°; Thumb joint 2: 0° to 100°; Index finger joint 0: 0° to 90°; Index finger joint 1: 0° to 100°; Middle finger joint 0: 0° to 90°; Middle finger joint 1: 0° to 100°
Fingertip positioning repeatability	±2 mm
Operating voltage	12–58 V
Quiescent current	0.2 A at 58 V
Maximum current	10 A
Communication interface	USB 2.0
Operating temperature range	From -20°C to 60°C
Load conditions (palm facing down)	Maximum weight: 500 g; Maximum power: 400 W for 3 s
Load conditions (palm facing left)	Maximum weight: 500 g; Maximum power: 400 W for 3 s
Communication frequency	1000 Hz
Data packet size	Transmitter: 1234 bytes; Receiver: 1270 bytes
Measurement feedback data	Joint mode, position, speed, torque, temperature, voltage, current, IMU data
Control feedback data	Joint mode, position, speed, torque, stiffness coefficient, damping coefficient
Joint models	F-1515-108, F-1515-214
Joint weight	45 g
Joint dimensions	34.8 × 23.1 × 23.3 mm
Gear Ratio	F-1515-108: 1:108; F-1515-214: 1:214
Maximum torque (theoretical)	F-1515-108: 0.76 Nm; F-1515-214: 1.498 Nm
Actual torque (rotation direction)	F-1515-108: 0.49 Nm; F-1515-214: 0.86 Nm
Actual torque (opposite direction)	F-1515-108: 1.37 Nm; F-1515-214: 3.1 Nm
Maximum rotational speed	F-1515-108: 23 rad/s; F-1515-214: 11 rad/s
Maximum line current	4.76 A
Joint control frequency	1000 Hz
Joint communication method	High Speed Unibus
Encoder	Absolute rotor position encoder
Joint operating voltage	12–24 V