Powerful drive
Claim of high instantaneous torque.
UNITREE · Robotic components
Unitree A1 Motor
A1 Motor — Stable and efficient, easy to maintain
Ultra-thin body design and highly integrated construction. The compact motor combines power with ease of maintenance.
Key design features
The manufacturer highlights five features: powerful drive, high integration, a crossed roller bearing, temperature and position sensing, and a low-copper-consumption winding.
Integrated construction
Motor body and controller combined.
Crossed roller bearing
Designed for axial impact resistance, precision, and long service life.
Sensors
Position and temperature monitoring features.
Winding
Low-copper-consumption coil design.
Instantaneous power output
The A1 motor can be adapted for load-bearing machines such as legged robots. The manufacturer states that it delivers high instantaneous force and rapid movement, with a maximum output torque of 33,5 N·m and a maximum joint speed of 21 rad/s.
High-quality windings and stator
Varnish dipping of the electrical wire helps with heat dissipation. The single-strand winding is intended to reduce resistance losses and current interaction between wires. The stator undergoes electrophoresis and high-temperature coating processes; the manufacturer reports that it passed a 48-hour salt spray test and has high rust resistance and insulation performance. The use of 0,2 mm silicon steel sheets is intended to reduce iron loss.
The 48-hour salt spray test is a manufacturer claim.
High integration
The motor body and controller are combined into a single unit; the manufacturer states that this arrangement reduces connection cables and facilitates plug-and-play use and quick disassembly and maintenance. The enclosed design is intended to prevent foreign particles from entering the motor.
Industrial-grade crossed roller bearings
The manufacturer describes the bearings as resistant to axial impacts, highly precise, and long-lasting.
Real-time sensor data reading
Motor sensor feedback covers torque, angle, angular velocity, angular acceleration, and temperature. Control commands include torque, angle, angular velocity, stiffness, and damping values.
Values the motor can report.
Torque · angle · angular velocity · angular acceleration · temperature
Sensor feedback
Values the motor can report.
Command parameters that can be sent to the motor.
Torque · angle · angular velocity · stiffness · damping
Control commands
Command parameters that can be sent to the motor.
Unitree A1 Motor This product is a motor designed for Unitree A1 robot platforms. Technical specifications and compatibility details are retained as stated by the manufacturer; mounting, connection pins, power requirements, and torque/efficiency information apply in the format specified in the original documentation. Follow the specified configuration and safety limitations during installation. No image mapping has been performed because no media or verified image link was provided.
Optimized magnetic circuit design
Designed to improve magnetic flux utilization, achieve sinusoidal back EMF, and reduce cogging torque.
Motor flux diagram
The manufacturer states that thousands of motor flux line calculations support stability and reliability in different motion conditions.
The source is an animated technical visual in GIF format; it is not classified as a video.
Temperature monitoring sensor
The temperature monitoring sensor on the motor helps prevent unusual temperature conditions from damaging it.
FOC control characteristic graph
Field-oriented control (FOC) is said to provide smoother operation with low torque ripple and low noise.
Input DC current (A) · speed (rpm) · output power (W) · efficiency (%)
Chart axes
Axis/title labels shown in the source.
A1 Motor Specifications
The manufacturer's technical values are presented below with their original units and scope preserved.
| Mass | 605 g |
|---|---|
| Maximum instantaneous torque | 33,5 N·m |
| Maximum joint rotation speed | 21 rad/s |
| Operating voltage | 20–40 V |
| Torque constant | 0,9287 N·m/A |
| Commutation mode | RS 485This value is given under the “Commutation Mode” heading in the source. |
| Communication control period | 1 kHz |
| Motor encoder resolution | 15 bit |
| Motor sensor feedback | Torque, angle, angular velocity, angular acceleration, temperature |
| Motor control commands | Torque, angle, angular velocity, stiffness, damping |
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