Humanoid Force-Controlled Arm AR Series Embodied Intelligent Robot
The AR Series robot features integrated force-controlled joints, enabling the arms to carry payloads of up to 5kg while maintaining a lightweight design (≤10kg). With a payload of 3-10kg and a 1:2 load-to-weight ratio, the arms provide enhanced motion efficiency and agility. Their humanoid design, which includes seven degrees of freedom and a cross-wrist configuration, allows for the precise replication of human hand movements—particularly suited for tasks requiring high-speed, precise manipulation.
Drawing on over a decade of experience in force-controlled collaborative robotics, the AR Series is designed for safety and reliability. These arms are equipped with advanced SDK algorithms, multiple end-effector interfaces, and the flexibility to integrate seamlessly with humanoid robots, wheeled dual-arm robots, and other robotic platforms. They are ideal for applications in AI, data collection, training, and smart factory automation.
Humanoid Force-Controlled Arm AR Series
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Data Overview
Humanoid Force-Controlled Arm AR Series Specifications


AR3AR5AR10
SpecificationsRated load3kg5kg10kg
Weight7kg10kg18kg
DOF7
Operating radius650mm683mm760mm
Repeated positioning accuracy+0.1mm
Absolute positioning accuracy+1mm
TCP maximum speed≥2m/s
Joint hollow aperture6mm9mm10mm
IP ratingIP54
Range of motion
Axis1
±360°±178°±360°
Axis2±120°±120°±120°
Axis3±178°±178°±178°
Axis4-60°~+145°-60°~+145°-60°~+145°
Axis5±178°±178°±178°
Axis6±110°±60°±110°
Axis7±180°±90°±180°
BrakeBrakeJoint with the brake
Force ControlJoint torque sensorStandard configuration
End 6-DoF force sensorOptional (range 200 N/7 Nm, accuracy ≤ 2% F.S.)
Force control accuracy≤0.15N,≤0.05N.m(reference value)
Force control resolution≤0.05N,≤0.02N.m(reference value)
Overload capacity of force sensor≥300%F.S.
Comprehensive accuracy of force control≤1%F.S.
Sampling frequency of force sensor≥5kHz
Torque closed loop

In initial scheme, 

controller performs torque closed loop, 

 while in advanced scheme,

 joint performs torque closed  loop

Admittance control

Single arm admittance is used alone.

 Update admittance  control parameters 

in real time during admittance  execution

Load recognitionAutomatic recognition of load
Input power supplyPower voltage48V DC(±15%)
CommunicationCommunication modeEtherCAT(Cycle 1±0.1ms)
NoiseNoise≤60dB≤60dB≤60dB
TemperatureOperating temperature0°C~50°C

The temperature rise shall not exceed 30°C,

 and the  overall temperature of 

the machine shall not exceed 60°C

HumidityOperating humidity10%-90% RH (non-condensing)
VibrationVibration resistanceRefer to GB/T 4798.5-2007 Severity: 5M2
Impact strengthRefer to GBT39266-2020 Impact acceleration: 10 g



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