Galaxea A1 Hardware Guide
This manual provides engineering data and user guidance for working with Galaxea A1 hardware.
Safety Guide
Galaxea robots are potentially dangerous machines with safety hazards. If improperly used, they can cause injury.
- All users must carefully read the following safety information before using the robot.
- Anyone near the robot who has not read this safety information must be closely supervised at all times and made aware that the robot could be dangerous.
- Only use the robot after inspecting the surrounding environment for potential hazards.
Please refer to the Safety Guide for more information.
Disclaimer
Galaxea A1 is intended for research applications by users experienced in operating and programming research robots. This product is not designed for general consumer use in the home and does not have the necessary certifications for such purposes.
Technical Specification
Electric Parameters
The electrical parameters of Galaxea A1 include its voltage, current, and communication interface. Its design ensures stable and reliable performance, even in high payload and dynamic applications.
| Parameters | Value |
|---|---|
| Rated Voltage | 48 V |
| Rated Current | 6 A |
| Maximum Current | 10 A |
| Communication Interface | USB 2.0 Port |
Performance Parameters
The performance parameters highlight Galaxea A1's key specifications, such as weight, payload capacity, arm reach, and speed, reflecting its superior performance in highly dynamic operations.
| Performance | Value |
|---|---|
| Dimensions | Deployed: 775L x 128W x 237H Folded: 449L x 128W x 277H |
| Weight | 6 kg |
| Rated Payload | 2 kg |
| Maximum Payload | 5 kg |
| Reach | 700 mm |
| Maximum End-Effector Linear Velocity | 10 m/s |
| Maximum End-Effector Acceleration | 10 m/s² |
| Degree of Freedom | 6 |
| Repeatability | 1 mm |
Hardware Structure
Robot Structure
Joint
The joint performance parameters detail the operating range, rated torque, and peak torque of the six joints, showcasing the robot's flexibility and power across a variety of operations.
| Joint | Range | Rated Torque |
|---|---|---|
| Joint 1 | [-165°, 165°] | 20 Nm |
| Joint 2 | [0°, 180°] | 20 Nm |
| Joint 3 | [0°, 190°] | 9 Nm |
| Joint 4 | [-165°, 165°] | 3 Nm |
| Joint 5 | [-95°, 95°] | 3 Nm |
| Joint 6 | [-105°, 105°] | 3 Nm |
- View 1: Shows the working radius and rotation angle of Joint 1, with a rotation radius of 715 mm and a maximum rotation angle of 330 degrees.
- View 2: Displays the rotation ranges for Joint 2 and Joint 3, with a maximum rotation angle of 180 degrees for Joint 2 and 190 degrees for Joint 3.
- View 3: Illustrates the rotation angles of Joints 4, 5, and 6, as well as the end position of the robot arm. The maximum rotation angle for Joint 4 and 6 is 330 degrees, while Joint 5 has a maximum rotation angle of 190 degrees.
Link
Galaxea A1 consists of two main links made from Acrylonitrile Butadiene Styrene (ABS), which is lightweight, rigid and durable. Each joint is equipped with planetary gear motors, enabling independent variable-speed operation with high precision and torque. This design allows the arm to maneuver in any direction commanded by the controller.
In the current version, the motor does not have a brake, so cutting off the power may cause the robot arm to drop suddenly. We will continue to improve the product to address this issue.
The arm is designed to have:
| Item | Notes |
|---|---|
| Length | Deployed 775 mm Folded 449 mm |
| Height | Deployed 237 mm Folded 277 mm |
| Width | 128 mm |
Base
Galaxea A1 features two ports on the rear of the base for development and charging.
| Item | Notes |
|---|---|
| Power Port | Rated voltage 48 V |
| USB Port | USB 2.0 |
| Mounting Holes | Four M6 threads with a diameter of 6.3 mm |
| Size | 100 mm x 100 mm |
| Maximum End-Effector Linear Velocity | 10 m/s |
End-Effector
Galaxea G1
G1 is composed of one motor, two clips, and one specially designed joint module.
Note: No gripper is included with the product. Contact us and purchase end-effectors or customized tools if needed.
| Feature | Value |
|---|---|
| Length | 145 mm |
| Length of Fingers | 78 mm |
| Diameter of Motor | 57 mm |
| Gripper Operating Range | 0 ~ 100 mm |
| Gripper Operating Range | 100 N |
Equipped with the end-effector, Galaxea G1, should have:
Attaching
Here it shows how to attach gripper to Galaxea A1. To remove them, simply reverse these steps.
- Alignment Check: Ensure that the three mounting holes around the gripper are aligned with the three mounting holes at the end of arm.
- Screw Fixation: Once aligned, secure and tighten the gripper to the arm using the three screws provided.
- Final Check: After tightening the screws, double-check the alignment and stability of the gripper. It should be firmly attached and not wobble or move independently of the robot arm.
Inspire-Robots RH56 Series Dexterous Hand
The dexterous hand boasts significant gripping strength and moderate speed, making it suitable for grasping and manipulating tasks in robotics or prosthetic applications. Its combination of power and control allows for effective handling of various objects, similar to the versatility of a human hand, thereby enhancing the functionality of robots or prostheses in performing complex tasks.
| Feature | Value |
|---|---|
| Degrees of Freedom | 6 |
| Number of Joints | 12 |
| Weight | 540 g |
| Repeatability | ±0.20 mm |
| Max. Finger Grip Force | 10 N |
Attaching
Next Step
This concludes the hardware guide for Galaxea A1. For further details, please refer to Galaxea A1 Software Guide.