Franka Robotics FR3 Duo

Quick answers

What is the payload of the Franka Robotics FR3 Duo?

3 kg, per FR3 Duo (franka.de).

What is the reach of the Franka Robotics FR3 Duo?

855 mm, per FR3 Duo (franka.de).

Study notes

• Dual-arm system includes two FR3 robots and one FR3 Duo Mounting Kit comprising the FR3 Duo Mount and FR3 Duo Cover.
• Each arm has 7 degrees of freedom; the document states 17 total DOF for the system.
• Each arm has 855 mm reach and 3 kg payload; 14 torque sensors are listed in total, or 7 per arm.
• Vision locations are a head camera and two wrist cameras.
• Expandability is provided by mechanical and electrical connection points.
• The optional FR3 Duo Vision and Manipulation Kit includes two Robotiq 2F-85 grippers with a shared power supply, two RealSense D405 wrist cameras with holders and cabling, and a Stereolab ZED Mini stereo camera on a Franka Head Bracket.
• FCI provides low-level real-time control at 1 kHz over Ethernet UDP, with joint torque, joint position, joint velocity, Cartesian pose, and Cartesian velocity commands.
• FCI also provides 1 kHz measurements of joint data, estimated external torques and forces, and collision/contact information.
• franka_ros integrates libfranka into ROS 2 Control and includes URDF models, 3D meshes, RViz visualization, Gazebo simulation, and MoveIt integration.
• The product is marked Prototype in the document.