The Unitree Dex3-1 is a sophisticated three-fingered dexterous hand engineered to provide robots with human-like manipulation capabilities. Designed for precision and versatility, it integrates seamlessly with platforms like the Unitree G1 humanoid robot, enabling the execution of complex tasks that require fine motor skills.
The Dex3-1 serves as an excellent tool for advancing studies in robotic manipulation, human-robot interaction, and dexterous object handling. Its precision and adaptability make it suitable for tasks such as assembly, packaging, and quality control in manufacturing settings. The hand’s human-like dexterity enables service robots to perform tasks in healthcare, hospitality, and domestic environments, including assisting individuals with daily activities.
The Unitree Dex3-1 is included as standard equipment on our UniTree G1 EDU Ultimate. Follow the link to learn more about Unitree and their line of advanced humanoid robots.
Key Features:
Degrees of Freedom (DoF): The Dex3-1 offers 7 active degrees of freedom: 3 in the thumb, and 2 each in the index and middle fingers. This configuration allows for intricate and adaptable movements, closely mimicking human hand dexterity.
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Force-Position Hybrid Control: By combining force and position control, the Dex3-1 ensures sensitive and reliable manipulation, capable of handling delicate objects with precision.
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Tactile Sensing: Equipped with 33 tactile sensors distributed across the fingers and palm, it can detect pressure ranges from 10g to 2500g, enhancing its ability to interact safely and effectively with various objects.
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Compact and Lightweight Design: Weighing approximately 710g and measuring 175mm x 88mm x 77mm, the Dex3-1 is designed to integrate seamlessly with robotic systems without compromising agility.
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High-Performance Actuators: The hand utilizes six micro brushless force control joints with direct drive and one with gear drive, providing the necessary power and precision for complex manipulations.
Unitree Dex3-1 Robotic Hand Body Specifications
| Weight | 710g |
| Size | 175mm x 88mm x 77mm |
| Degrees of Freedom | Thumb x 3 Index Finger x 2 Middle Finger x 2 |
| Transmission Mechanism | 6 Motors Drive Directly 1 Motor Drive with Gears |
| Angle of Joint | Thumb Joint 0: -60°~60° Thumb Joint 1: -35°~60° The Thumb Joint 2: 0 to 100° Index Finger Joint 0: 0 °~90° Index Finger Joint 1: 0 °~100° Middle Finger Joint 0: 0 °~90° Middle Finger Joint 1: 0 °~100° Fingertip Repeat Positioning Accuracy ±2mm |
| Fingertip Repeat Positioning Accuracy | ±2mm |
| Working Voltage | 12~58V |
| Static Current | 58V @ 0.2A |
| Maximum Current | 10A |
| Communication Interface | USB 2.0 |
| Working Temperature Range | -20℃ ~ 60℃ |
| Load Conditions ( Palm Facing Down At Room Temperature, Grasping A 5cm Round Hard Object) | The Maximum Weight is 500g | The Maximum Power Is: 400W@3s |
| Load Condition (Palm Facing Left At Room Temperature, Grasping A 5cm Round Hard Object) | The Maximum Weight is 500g | The Maximum Power Is: 400W@3s |
Unitree Dex3-1 Robotic Hand Sensor Specifications
| Number of Pressure Sensors | 9 (Total of 33 Pressure Sensors) |
| Array resolution | 2 x 2 (Palm) x 3 2 x 2 (Single Finger Pulp) x 3 3 x 1 (Single Fingertip) x 3 |
| Range of Perception | 10g-2500g |
| Maximum Acceptance (Unamaged) | 20kg |
Unitree Dex3-1 Robotic Hand Software Functions
| Communication rate | 1000Hz |
| The number of bytes in a full packet | Sender：1234 bytes Receiver：1270 bytes |
| Perceptual feedback | Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current, Sensor Pressure Value, Sensor Temperature Value, imu Data |
| Control feedback | Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient |
Unitree Dex3-1 Robotic Hand Miniature Brushless Force Control Joint Parameters
| Model | F-1515-108 Miniature Brushless Force Control Joint | F-1515-214 Miniature Brushless Force Control joint |
| Weight | 45g | 45g |
| Size | 34.8mm x 23.1mm x 23.3mm | 34.8mm x 23.1mm x 23.3mm |
| Reduction Ratio | 1：108 | 1：214 |
| Maximum Torque (Ideal) | 0.76Nm | 1.498Nm |
| Maximum Torque (Actual) | The Torque Is In The Same Direction As The Speed：0.49Nm The Toque Is In The Opposite Direction of The Rotational Speed：1.37Nm | The Torque Is In The Same Direction As The Speed：0.86Nm The Toque Is In The Opposite Direction of The Rotational Speed：3.1 Nm |
| Maximum Rotational Speed | 23rad/s | 11rad/s |
| Maximum Line Current | 4.76A | 4.76A |
| Communication Control Frequency | 1000Hz | 1000Hz |
| Method of Communication | High Speed Unibus | High Speed Unibus |
| Encoder | Rotor Absolute Value Encoder | Rotor Absolute Value Encoder |
| Working Temperature Range | -20℃ ~ 60℃ | -20℃ ~ 60℃ |
| IP Rating | / | / |
| Working Voltage | 12-24V | 12-24V |
| Motor Preceived Feedback | Torque, Angle, Angular Velocity, Temperature | Torque, Angle, Angular Velocity, Temperature |
| Motor Control Instruction | Torque, Angle, Angular Velocity, Stiffness, Damping | Torque, Angle, Angular Velocity, Stiffness, Damping |
