JAKA Zu URDF Models — Import into ARMOR for iPhone, iPad & Mac

Add to ARMOR

Choose a collision treatment:

Zu3 8 files · 4.3 MB 3 kg payload — the smallest model in the Zu line. Zu5 8 files · 8 MB 5 kg payload. Zu7 8 files · 6.1 MB 7 kg payload. Zu12 8 files · 11.5 MB 12 kg payload. Zu15 8 files · 14 MB 15 kg payload. Zu18 8 files · 6.2 MB 18 kg payload. Zu20 8 files · 3.9 MB 20 kg payload. Zu30 8 files · 10.3 MB 30 kg payload. Zu35 8 files · 28.3 MB 35 kg payload — the largest, heaviest-duty model in the Zu line.

8 files 8 MB download

Opens in the ARMOR app on iPhone, iPad, or Mac. Don’t have it yet? Get ARMOR.

The Zu series is JAKA Robotics’ flagship general-purpose collaborative arm line — nine payload classes, from the compact 3 kg Zu3 up to the heavy-duty 35 kg Zu35, all sharing the same 6-axis mechanism scaled to size. JAKA’s own naming convention encodes payload directly in the model number.

The mechanism

Six revolute joints in series (joint_1 through joint_6) form a textbook 6-axis collaborative arm on every model — no mimic joints, no closed loops, every movable joint an independent actuator. Confirmed identical joint structure across every size in the line by direct comparison of each model’s own URDF; only link dimensions, mass, and mesh geometry scale between sizes.

Choosing a variant

All nine are mechanically identical — the choice is purely which payload class matches your application, from Zu3’s compact reach up to Zu35’s heavy-duty capacity.

About these files — read before importing

These are real, literal URDFs, not xacro templates — JAKA publishes a separate, complete URDF per model rather than one parameterized template. This gallery entry links directly to the official jaka_ros2 repository, unmodified. See this entry’s license notice above: this repository carries no license of any kind, so review that before building on any of these designs.

License & attribution

Source code

none

Model & mesh files

none

Attribution

jaka_description (jaka_ros2) has no license anywhere in the repository — no LICENSE file, and the package's own package.xml field is a literal, unedited "TODO" (confirmed via GitHub's own repository metadata showing no detected license). The *_moveit_config packages each say "BSD", but that's MoveIt Setup Assistant's own default boilerplate value, not a considered choice by JAKA — jaka_description, jaka_driver, and jaka_planner (the packages that actually matter) all say "TODO" instead. Under default copyright, no license actually permits downloading or reusing these files.

ARMOR does not host or redistribute this model. Choosing “Open in ARMOR” downloads the files directly from JAKA Robotics’s own repository, unmodified. Your use of the model is governed by the license above.

ARMOR is an independent tool published by DCDC LLC. It is not affiliated with, sponsored by, or endorsed by JAKA Robotics. "JAKA" and "Zu" are used here only to identify the robots these files describe. These models are downloaded directly from JAKA's own repository. No license governs them — see the license notice above before building on any of these designs.