Connector — mechanical

Unitree G1 wrist clamp mount

Also known as: Unitree G1 hand clamp, G1 wrist hoop mount

Slug: unitree-g1-wrist-clamp
Domain: mechanical
About: Unitree G1 humanoid wrist interface. Not a bolt-circle flange: the hand's cylindrical wrist boss is captured by a clamp ring. Unitree's own guides give two configurations - G1 Basic/Standard: clamp fixed by six M3x10 screws on the side of the hand; G1 Advanced/Flagship (incl. EDU): clamp/hoop fixed by two M3x10 screws plus a cover plate on two M2x5 screws protecting the cable. Power and signal run through the hollow forearm to a power connector at the hand and a back signal connector under a protective cover (four M3 screws). Left and right hands are distinct parts. No ISO 9409-1 designation, pitch circle or locating pin is published, so nothing built for an ISO flange fits without a custom adapter. G1-specific: Unitree sells G1/G1-D- and H2-dedicated editions of the same gripper, and the H2 and R1 wrists are not evidenced as this interface.
Reference: https://www.unitree.com/images/G1-Flagship%20Version%20A&B%20Terminal%20Three-Fingered%20Dexterous%20Hand%20Dex3-1%20Disassembly%20and%20Assembly%20Guide%20Manual%20V1.1.pdf

Mount

Read from the source

Pattern: clamp ring — no bolt circle
Screws: G1 Basic/Standard: 6x M3x10G1 Advanced/Flagship (incl. EDU): 2x M3x10 plus a cover plate on 2x M2x5
Boss Ø: not published
Drawing: not to scale — the shape is a placeholder, not a dimension
Source: Unitree G1 End Prosthetic Hand and G1 Flagship Dex3-1 assembly guides (manualslib.com/manual/3639396, /3681622). Boss diameter is not published by Unitree.