Unitree Z1-Gripper

Size: 139 × 80 × 68 mm
Weight: 700–750 g
Maximum Tiger Mouth Clamping Force: 200 N
Maximum Fingertip Holding Force: 150 N
Maximum Angle: 90°
Open/Close Time: 0.5 s
Voltage: 24 V , Peak Power: 70 W
Communication Support: RS485
Compatible With: Unitree Z1 Air and Z1 Pro

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Overview

What makes it work

Unitree Z1-Gripper — End-Effector for Z1 Air & Z1 Pro | xBoom.in

Unitree Robotics · Z1 Accessories

Z1-Gripper · Standard End-Effector

Unitree Z1-Gripper

A compact, fast-acting end-effector for the Unitree Z1 Air and Z1 Pro robotic arms — 200N of tiger's-mouth force, 150N at the fingertips, and a 0.5 second open/close cycle, controlled over RS485.

200^N

Tiger's-Mouth Force

150^N

Fingertip Force

90^°

Max Angle

0.5^s

Open/Close Time

750^g

Weight (max)

Overview

A Fast, Firm Grip for the Z1 Arm

The Unitree Z1-Gripper is a compact end-effector measuring 139mm × 80mm × 68mm and weighing between 700g and 750g, built for the Unitree Z1 Air and Z1 Pro robotic arms. It delivers up to 200N of holding force at the tiger's mouth and 150N at the fingertips, with a maximum opening angle of 90° and a full open/close cycle in just 0.5 seconds. Running on 24V with a peak power draw of 70W, the gripper communicates over RS485 for straightforward integration into existing Z1 control setups.

Core Strengths

Four Pillars of the Z1-Gripper

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200N Holding Force

Up to 200N at the tiger's mouth and 150N at the fingertips for a secure grip.

⚡

0.5s Open/Close

Full opening and closing cycle in half a second, across a 90° max angle.

🪶

Compact & Lightweight

139mm × 80mm × 68mm, weighing just 700g to 750g.

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RS485 Control

24V supply, 70W peak power, and RS485 communication for easy Z1 integration.

See It In Action

Z1-Gripper — Official Demonstration Videos

Watch the Z1-Gripper mounted on the Unitree Z1 arm in action.

Package Contents

Z1-Gripper — What's Included

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Z1-Gripper ×1

Compact end-effector, RS485 interface

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Mounting Hardware

For attachment to Z1 Air or Z1 Pro arm

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Cables

RS485 and power connection cables

Compatible with the Unitree Z1 Air and Z1 Pro robotic arms.

Technical Specifications

Z1-Gripper — Complete Specification

Specification	Details
Mechanical Parameters
Size	139mm × 80mm × 68mm
Weight	700g – 750g
Max Tiger's-Mouth Force	200N
Max Fingertip Holding Force	150N
Max Angle	90°
Open/Close Time	0.5s
Electrical Characteristics
Voltage	24V
Peak Power	70W
Communication	RS485
Compatibility
Compatible Arms	Z1 Air, Z1 Pro

FAQ

Common Questions — Z1-Gripper

Which robotic arms is the Z1-Gripper compatible with?

The Z1-Gripper is designed for the Unitree Z1 Air and Z1 Pro robotic arms.

How much force can the gripper apply?

The Z1-Gripper delivers up to 200N of force at the tiger's mouth and 150N at the fingertips, across a maximum opening angle of 90°.

How fast does the gripper open and close?

A full open/close cycle takes approximately 0.5 seconds.

How is the gripper controlled?

The Z1-Gripper communicates over RS485, running on a 24V supply with a peak power draw of 70W.

Does this version include a depth camera?

No. The standard Z1-Gripper does not include a depth camera. For vision-guided grasping, see the Z1-Gripper with D435i (long-range, 0.3m–3m) or the Z1-Gripper with D405 (short-range, 7cm–50cm).

Specifications