Unitree Z1 Gripper

Z1 Gripper Z1 Series Accessories (Z1-Gripper) (Z1-GRIPPER)

In product catalogs, the Z1-GRIPPER is typically described as a compact, electrically driven gripper with fast opening/closing speed, moderate payload handling, and a simple industrial communication interface. Public technical specifications list a maximum gripping force of 150–200 N, a maximum payload of 2 kg, and an opening/closing time of 0.5 seconds, making it suitable for common robotics tasks such as picking parts, handling tools, and interacting with light fixtures in controlled environments.

As an accessory ecosystem component, the Z1-GRIPPER is frequently used in education, prototyping, automation demonstrations, and research labs where the Z1 arm is evaluated for mobile manipulation scenarios. Unitree also positions the Z1 arm as a development platform for broader robotics applications, providing documentation and parameters that support integration into custom systems.

Design and Features

Compact mechanical form factor

The Unitree Z1-GRIPPER is designed to remain lightweight and compact so it can be mounted at the end of the Z1 robot arm without significantly reducing the arm’s dynamic performance. Published specifications list the gripper size as 139 × 80 × 68 mm and weight as 700–750 g, which is typical for a small industrial-style electric gripper.

This size class is often chosen for mobile manipulation because it provides sufficient contact area for gripping common objects while keeping overall inertia low—an important factor for fast motion and safe interaction.

High gripping force for light manipulation

For a compact end-effector, a listed force range of 150–200 N is relatively strong and supports secure grasping of rigid objects such as handles, tools, small packages, and components.
In practice, the usable gripping force depends on contact geometry, friction, object material, and grasp configuration, but higher force headroom generally improves grasp stability.

Maximum payload specification

The Z1-GRIPPER is commonly specified with a maximum payload of 2 kg, aligning with many light-duty manipulation tasks such as picking and placing objects on a workbench, moving small boxes, or holding tools for demonstration work.

Payload ratings in robotic grasping are typically influenced by:

• the robot arm’s torque and stability

• the gripper’s force and contact geometry

• dynamic factors (acceleration, vibration, and motion speed)

• object center of mass and lever arm effects

Wide opening angle and fast actuation

Published specifications list a maximum angle of 90° and an opening/closing time of 0.5 seconds.
A fast open/close cycle can be valuable for repetitive tasks and live demos, where responsiveness and timing consistency are essential.

Industrial power and control interface

The Z1-GRIPPER is typically specified to operate at:

• Voltage: 24 V

• Peak power: 70 W

• Communication method: RS485

This combination reflects a common industrial approach: 24 V power for robotics and RS485 for robust serial control in electrically noisy environments. RS485 is widely used in robotics systems due to its reliability over moderate cable lengths and tolerance for interference.

Technology and Specifications

Core technical specifications (commonly published)

Public listings for the Unitree Z1-GRIPPER provide the following specifications:

• Dimensions: 139 × 80 × 68 mm

• Weight: 700–750 g

• Maximum gripping force: 150–200 N

• Maximum payload: 2 kg

• Maximum angle: 90°

• Opening/closing time: 0.5 s

• Voltage: 24 V

• Peak power: 70 W

• Communication: RS485

Relationship to the Unitree Z1 robot arm platform

The Z1-GRIPPER is designed for the Unitree Z1 arm, a 6-axis robotic manipulator with a reach of roughly 740 mm and repeatability around ~0.1 mm, depending on configuration.
Unitree’s documentation describes Z1 as a lightweight arm intended to be paired with mobile robotic platforms and integrated into R&D workflows.

Because the Z1 gripper is a purpose-made accessory, it is typically selected to match the arm’s lightweight design goals—enabling mobile manipulation while avoiding large reductions in speed or stability.

Applications and Use Cases

Pick-and-place tasks in research and education

A primary use case for the Z1-GRIPPER is teaching and prototyping manipulation behaviors. In educational settings, it is commonly used to demonstrate:

• grasp planning fundamentals

• coordinate transforms and end-effector control

• simple object pickup and placement tasks

• automation logic and repeatability testing

Because the Z1 arm itself is designed as a lightweight research platform, the Z1-GRIPPER naturally fits labs evaluating mobile manipulation.

Mobile manipulation and field demonstrations

When the Z1 arm is mounted on a mobile carrier, the Z1-GRIPPER enables basic “robot-in-the-world” demonstrations such as:

• picking objects from a table or platform

• transporting items short distances

• interacting with handles or latches (when geometry permits)

• tool holding for staged tasks

Some product descriptions emphasize the gripper’s role in “industrial settings” and simple tasks like opening/closing doors or handling objects, reflecting its positioning as a practical end-effector rather than a purely experimental component.

Light logistics and lab automation prototypes

A 2 kg payload class and 150–200 N gripping force makes the Z1-GRIPPER suitable for lightweight logistics prototypes such as:

• moving small boxes or trays

• transferring parts between bins

• holding and placing fixtures or sensors

• manipulating packaged items in controlled environments

In these cases, developers often value ease of integration (24 V power, RS485 control) and predictable open/close timing.

Human-robot interaction experiments

Although dexterous hands are better suited for nuanced manipulation, parallel-jaw or clamp-style grippers are often used in interaction studies where robust grasping is preferred over complex finger control. Fast actuation and adequate grip force can support safe and repeatable experiments when combined with appropriate sensing and safety limits.

Advantages / Benefits

Practical gripping force in a compact package

With a specified 150–200 N gripping force at a sub-1 kg mass, the Z1-GRIPPER is positioned for reliable grasp stability while preserving the lightweight characteristics of the Z1 arm platform.

Fast open/close cycle for repeatable operations

A 0.5 second opening/closing time supports high-throughput demo sequences and lab tasks where consistent timing improves automation reliability.

Compatible with common robotics power standards

Operating at 24 V is a major benefit for robotics integration, as 24 V power distribution is widely used in mobile robots, manipulators, and industrial automation systems.

RS485 control is robust for embedded systems

The use of RS485 is a practical choice for many robotics builders. It is well-suited to industrial environments and can be easier to deploy in compact embedded controllers compared with higher-level network protocols.

Payload rating aligned with Z1 use cases

A 2 kg maximum payload matches common Z1 manipulation goals such as light-duty handling, research tasks, education demonstrations, and prototyping.

FAQ Section 

What is the Unitree Z1 Gripper (Z1-GRIPPER)?

The Unitree Z1 Gripper (Z1-GRIPPER) is an end-effector accessory for the Unitree Z1 robotic arm, designed to provide controllable gripping for pick-and-place and light manipulation tasks.

How does the Unitree Z1-GRIPPER work?

It works as an electrically actuated gripper powered by 24 V and typically controlled via RS485. It opens and closes in about 0.5 seconds and can generate 150–200 N of gripping force depending on configuration.

Why is the Unitree Z1 Gripper important?

The gripper is important because it turns the Z1 arm into a functional manipulation system—enabling real object handling for education, research, and automation prototypes rather than motion-only demonstrations.

What are the benefits of the Unitree Z1 Gripper?

Key benefits include a compact design, strong 150–200 N gripping force, 2 kg payload rating, fast 0.5 s actuation, and straightforward industrial control via RS485.

Summary

The Unitree Z1 Gripper (Z1-GRIPPER) is a compact, electrically driven end-effector for the Unitree Z1 robotic arm, designed to enable practical manipulation in education, R&D, and light automation prototypes. With published specifications such as 150–200 N maximum gripping force, 2 kg payload rating, 0.5 s opening/closing time, 24 V power input, and RS485 communication, the Z1-GRIPPER provides a straightforward, robotics-friendly solution for reliable grasping tasks. Combined with the Z1 arm’s lightweight 6-axis platform and reach near 740 mm, it supports a wide range of mobile manipulation and pick-and-place applications while remaining accessible for rapid integration and prototyping.