Unitree D1 6-DOF Servo Arm
- 6 Degrees of Freedom (6-DOF) – Features six independently controlled joints, enabling smooth, flexible, and precise robotic movements for a wide range of applications.
- 500g Recommended Payload – Optimized to handle a 500g ideal payload, making it suitable for light pick-and-place, inspection, and automation tasks.
- Extended Working Reach – Offers a maximum reach of 600mm (excluding gripper) and up to 715mm (including gripper), providing excellent workspace coverage.
- 24V DC Power Input – Operates on 24V DC with a standard 2.5A current and supports up to 5A maximum for stable performance.
- 60W Rated Power – Efficient 60W power consumption delivers reliable operation while maintaining energy efficiency.
- RJ45 Ethernet Communication – Equipped with an RJ45 (Ethernet) control interface for dependable communication and system integration.
- Wide Joint Motion Range – Supports extensive articulation with joint ranges of J1 ±135°, J2 ±90°, J3 ±90°, J4 ±135°, J5 ±90°, and J6 ±135° for versatile movement.
- Designed for Precision Automation – Ideal for robotic manipulation, education, laboratory research, vision systems, assembly, and light industrial automation.
- Compact & Professional Design – Engineered for easy integration into workstations, robotic cells, research labs, and educational environments.
- Reliable OEM Robotic Arm – Built for long-term durability and consistent performance in professional robotics and automation applications.
- Trusted dealerDirect manufacturer partnership
- Pan-India deliveryInsured shipping, all states
- Post-sale supportTraining + service included
What makes it work
Unitree Go2 D1 6-DOF Servo Arm
The Unitree Go2 D1 6-DOF Servo Arm is a genuine force-controlled robotic manipulator that mounts on the Go2, bringing real pick-and-place, grasping, and manipulation to the platform.
±0.05mm Repeatability
Full Force Control
670mm Reach with Gripper
RJ45 + ROS/ROS2
Full Specifications
| Specification | Details |
|---|---|
| Product | Unitree Go2 D1 6-DOF Servo Arm — a genuine Unitree D1 robotic manipulator (Unitree’s own product page lists this as model “D1”) |
| Degrees of Freedom | 6 axis joints + 1 gripper (6+1 DOF) |
| Reach | 550mm excluding gripper, 670mm including gripper (per Unitree’s own official spec page) |
| Payload | 500g recommended dynamic payload; up to 1kg static/holding payload |
| Joint Motion Range | J1 ±135°, J2 ±90°, J3 ±90°, J4 ±135°, J5 ±90°, J6 ±135° |
| Repeatability | ±0.05mm positional repeatability, via 17-bit joint encoders |
| Force Control | Full-process force control, ±0.1N force resolution |
| Velocity Control | 0–90°/s per joint |
| Weight | Approximately 2.37kg |
| xBoom SKU | xboom-144904 |
| Specification | Details |
|---|---|
| Power Supply | 24V DC, 2.5A standard current, up to 5A maximum |
| Rated Power | 60W |
| Motor Type | Bus servo motors with digital force control |
| Communication | RJ45 (Ethernet control) plus USB-C (serial port debugging) |
| Control Modes | Position control, velocity control, and force control |
| Software Compatibility | ROS / ROS2 compatible |
| Construction | 6061-T6 aluminum alloy frame |
Real Manipulation for the Go2
Unitree Go2 D1 6-DOF Servo Arm: A Genuine Force-Controlled Manipulator
This is a genuine Unitree D1 robotic arm — a true 6-axis manipulator plus gripper, built from 6061-T6 aluminum alloy and weighing only about 2.37kg, that mounts directly onto the Go2 to add real pick-and-place and grasping capability. Its six joints move through a combined range spanning J1/J4/J6 at ±135° and J2/J3/J5 at ±90°, reaching out to 670mm with the gripper attached, and 17-bit encoders on every joint deliver ±0.05mm positional repeatability — precise enough for genuine manipulation tasks, not just demonstration gestures.
What sets the D1 apart from a simple position-controlled arm is its full-process force control, with ±0.1N force resolution across position, velocity, and force control modes. That means it can sense and respond to contact — useful for compliant tasks like gentle grasping or surface-following — rather than just moving to fixed coordinates blindly. It’s rated for a 500g dynamic payload while moving, or up to 1kg when holding statically, and connects over RJ45 for control with a USB-C port for debugging, with full ROS/ROS2 compatibility for custom development.
True 6-Axis + Gripper Design
Six independently controlled joints plus a gripper for real manipulation.
±0.05mm Repeatability
17-bit encoders on every joint for precise, repeatable positioning.
Full-Process Force Control
±0.1N force resolution enables compliant, contact-aware manipulation.
ROS/ROS2 Ready
RJ45 control plus full ROS/ROS2 compatibility for custom development.
See Every Detail
Mounted and Ready on the Go2
The D1 arm installed on a Go2 in the field, alongside its 3D LiDAR sensor — a real look at how the arm integrates with the rest of the Go2’s sensor payload for genuine mobile manipulation work.
Official Go2 EDU Plus Configuration
An official Unitree studio shot showing the D1 arm paired with the Mid-360 LiDAR on a Go2 EDU Plus — the same combination this arm and the Mid-360 sensor listed separately on xBoom are each built to support.
Built for Genuine Manipulation Work
The Unitree Go2 D1 6-DOF Servo Arm brings real force-controlled manipulation to the Go2 platform.
🦾
6+1 Degrees of Freedom
Six independently controlled joints plus a gripper for genuine dexterity.
🎯
±0.05mm Repeatability
17-bit encoders on every joint for consistent, precise positioning.
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Full-Process Force Control
±0.1N force resolution enables compliant, contact-aware tasks.
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670mm Reach with Gripper
Enough workspace coverage for real pick-and-place tasks.
⚙️
Lightweight Aluminum Frame
6061-T6 aluminum alloy construction at only about 2.37kg.
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RJ45 + ROS/ROS2 Ready
Ethernet control plus full ROS/ROS2 compatibility for custom code.
Built for Teams Doing Real Manipulation Work
The Unitree Go2 D1 6-DOF Servo Arm suits operators and developers who need genuine pick-and-place and grasping capability on the Go2 platform.
Robotic Manipulation
Real pick-and-place, grasping, and object handling tasks.
Education & Embodied AI
A hands-on platform for teaching manipulation and robotics concepts.
Laboratory Research
Force control and precision suited to serious research work.
Vision-Guided Systems
Pairs naturally with a depth camera for vision-guided grasping.
Light Industrial Automation
Suited to light assembly, sorting, and inspection tasks.
Embodied AI & Data Collection
A capable platform for imitation learning and manipulation research.
See the D1 Arm in Use
A hands-on look at this exact D1 arm, a related Unitree quadruped-plus-arm setup, and the Go2 platform it mounts to.
Frequently Asked Questions
What can the Unitree Go2 D1 6-DOF Servo Arm actually do?
What’s the arm’s payload capacity?
What does “force control” mean for this arm?
How precise is the arm’s positioning?
How do I control and develop for this arm?
What’s the arm’s reach?
The full sheet
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