7-DOF Desktop Robot Arm: ZHR-P Series Joint Motor Deployment
A lightweight, fully open-source 7-DOF desktop manipulator (6 arm joints + 1 end-effector gripper) powered by ZHR-P series integrated joint motors, enabling CAN communication, ROS2 control, and real-time kinematic solving.
The Challenge
The research team needed a lightweight desktop robot arm for ROS2 development and multi-arm协同 control experiments. Key requirements included: low weight (<2kg per joint), high torque density, native CAN 2.0 communication at 1 Mbps, and compatibility with MoveIt2 motion planning stack. Traditional industrial actuators were too heavy and expensive for this research platform.
The Solution
The team selected a hybrid ZHR-P series configuration: Joints J1–J3 (base, shoulder, elbow) use ZHR-P03 actuators (±14 Nm peak torque, ±33 rad/s max speed), while J4–J7 (wrist + gripper) use ZHR-P05 actuators (±6 Nm peak torque, ±50 rad/s max speed). All joints feature integrated motor + planetary gearbox + driver + 14-bit dual encoders in a single compact housing. Communication via SocketCAN (CAN 2.0 Extended Frame, 1 Mbps).
Actuator Configuration & Performance Specs
| Joint | Actuator Model | Peak Torque | Max Speed | Position Range | Weight |
|---|---|---|---|---|---|
| J1 (Base) | ZHR-P03 | ±14 Nm | ±33 rad/s | ±160° | 310g |
| J2 (Shoulder) | ZHR-P03 | ±14 Nm | ±33 rad/s | ±180° | 310g |
| J3 (Elbow) | ZHR-P03 | ±14 Nm | ±33 rad/s | ±230° | 310g |
| J4 (Wrist 1) | ZHR-P05 | ±6 Nm | ±50 rad/s | ±90° | 280g |
| J5 (Wrist 2) | ZHR-P05 | ±6 Nm | ±50 rad/s | ±90° | 280g |
| J6 (Wrist 3) | ZHR-P05 | ±5.5 Nm | ±50 rad/s | ±90° | 280g |
| J7 (Gripper) | ZHR-P05 | ±5.5 Nm | ±50 rad/s | ±90° | 280g |