{"product_id":"unitree-z1-joint-motor","title":"Unitree Z1 Joint Motor","description":"\u003cp\u003eThis is the joint actuator Unitree builds into its Z1 6-axis robot arm, supplied as a separate part for teams that run Z1 arms and need a replacement or a spare joint. It combines the motor with a harmonic reducer and an industrial-grade crossed roller bearing in a compact Φ65 × 52 mm housing weighing 405 g.\u003c\/p\u003e\u003cp\u003eUnitree rates it at 33 N·m maximum torque with about 6 arcmin of backlash and a reduction ratio of 60 and above. A 15-bit encoder and a 1 kHz control frequency over RS-485 support the arm's force control, with a force-control accuracy of about 0.2 N·m. The motor reports torque, angle and angular velocity, and accepts torque, angle, angular velocity, stiffness and damping commands; 24 V is the recommended supply.\u003c\/p\u003e\u003cp\u003eThese joints give the Z1 its position-plus-force control and collision detection, and they also explain a trait Unitree is open about: because the reduction ratios are relatively low, the arm's position-control stiffness is low, and without an optimised control mode it can show position error and shake in motion. Which of the arm's six joints the part fits, whether it suits your Z1 Air or Z1 Pro, and the replacement procedure are confirmed in writing with your quotation.\u003c\/p\u003e\u003ch3\u003eKey Capabilities\u003c\/h3\u003e\u003cul\u003e\n\u003cli\u003e\n\u003cstrong\u003eHarmonic Reducer, 60+ Ratio:\u003c\/strong\u003e A harmonic reducer with a reduction ratio of 60 and above runs on an industrial-grade crossed roller bearing.\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003e33 N·m Maximum Torque:\u003c\/strong\u003e Unitree rates the actuator at 33 N·m peak, with backlash of about 6 arcmin.\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003eForce Control to About 0.2 N·m:\u003c\/strong\u003e Torque, angle and angular-velocity feedback support the Z1's force control and collision detection.\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003e1 kHz Control over RS-485:\u003c\/strong\u003e Commands cover torque, angle, angular velocity, stiffness and damping at a 1 kHz control frequency.\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003eCompact 405 g Body:\u003c\/strong\u003e The Φ65 × 52 mm housing keeps the arm's joints light, with a recommended 24 V supply.\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003eFit Confirmed Before Order:\u003c\/strong\u003e Joint position, arm version and replacement procedure are confirmed in writing with the quotation.\u003c\/li\u003e\n\u003c\/ul\u003e\u003ch3\u003eBuying through Robotix Market\u003c\/h3\u003e\u003cp\u003eThis unit is sourced new through established distribution channels and ships worldwide with the full manufacturer warranty. Technical support is coordinated with the manufacturer's own service network. Deployment scope, configuration, and commissioning responsibilities are agreed as part of the quotation — on-site installation is not included in the product price.\u003c\/p\u003e","brand":"Unitree Robotics","offers":[{"title":"Default Title","offer_id":67817760588006,"sku":"Unitree-Z1-MOTOR","price":1510.0,"currency_code":"SAR","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0827\/3366\/2438\/files\/Unitree-Z1-MOTOR.png?v=1792488937","url":"https:\/\/robotixmarket.me\/en\/products\/unitree-z1-joint-motor","provider":"Robotix Market Middle East","version":"1.0","type":"link"}