DH Robotics PGI-140-80 vs Unitree Dex1-1
Specifications as each maker states them, side by side. The (i) beside a value links to its source.
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4 of 36 specs differ across 2 models
| Spec | DHDH Robotics PGI-140-80 | UNUnitree Dex1-1 |
|---|---|---|
| General | ||
| Stroke per Finger | 40 mm | 45 mm |
| Max Gripping Force | 140 N | 120 N |
| Actuation | electric | electric |
| Weight | 1 kg | 0.55 kg |
| Min Gripping Force | 40 N | 5 N |
| Max Opening Width | 80 mm | — |
| Operating Pressure/Voltage | 24 V DC ±10% | — |
| Repeatability | 0.03 mm | — |
| IP Rating | IP54 | — |
| Close Time | 600 ms | — |
| Open Time | 600 ms | — |
| Actuator models (servos) | — | One Unitree M4010 brushless joint motor. Reduction ratio 1:25; peak torque 5 N.m; maximum speed 27 rad/s at 64 V; 15-bit absolute encoder. Feedback: angle, angular velocity, torque, temperature. Commands: angle, angular velocity, torque, stiffness, damping. |
| Closing speed (programmable) range | — | 50–375 mm/s |
| Communication Interface | — | RS485 |
| Control Loop Frequency | — | 1000 Hz |
| Degrees of Freedom | — | 1 |
| Dimensions (L×W×H) | — | 143 × 78 × 67 mm |
| Encoder Resolution | — | 15 bit |
| Encoder Type | — | absolute |
| Grip force (programmable) range | — | 5–120 N |
| Model variants (right/left; bus-associated in integrator listings) | — | Standard (gripper only), Advanced (adds a 1080p RGB camera and mount; 30/60 fps, FOV H 118 / V 87 / D 140), Ultimate (adds an Intel RealSense D405 depth camera and mount). Resellers relabel these V1 / V2 / V3. The gripper hardware is identical across all three; the D405 bracket and the 485-to-USB board ship with every package. |
| Motor Communication Interface | — | High-speed RS-485, 6 Mbps baud, 1000 Hz control frequency. Unitree proprietary framing on the RS-485 physical layer - not Modbus RTU. A 485-to-USB conversion board ships in the box; host-side control is unitree_sdk2 plus the dex1_1_service serial-to-DDS bridge (topics rt/dex1/left|right/cmd and /state, message type MotorCmds_). |
| Mounting Interface | — | Unitree humanoid wrist interface. Vendor-stated compatibility: standalone use, G1 (EDU+/U2 and above), H1/H1-2, H2 and R1. Unitree publishes no ISO 9409-1 designation, pitch-circle diameter or bolt pattern for this gripper. |
| Number of Fingers | — | 2 |
| Opening/Closing Time (vendor/reseller claim) | — | 0.24 s |
| Operating Temperature Range | — | -20 C to +60 C |
| Operating Voltage Range | — | 24–64 VDC |
| Payload (form-fit / encompassing) | — | 20 kg |
| Payload (friction grip) | — | 5 kg |
| Peak Current | — | 3.5 A |
| Peak Torque | — | 5 Nm |
| Product Category | — | Two-Finger (Parallel) Gripper |
| Resolution | — | 0.1 mm |
| Series / Model | — | Unitree Dex1-1 |
| Standby Current | — | 0.03 A |
| Stroke | — | 90 mm |