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
Nominal Voltage	48 V
Rated Current	30 A
Maximum Current	50 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
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	149 mm
Length of Fingers	77 mm
Diameter of Motor	60 mm
Gripper Operating Range	0~60 mm
Gripper Operating Range	100 N

Item	Notes
Length	Deployed 918 mm Folded 545 mm
Height	Deployed 237 mm Folded 277 mm
Width	128 mm
Degree of Freedom	7
Maximum Payload	5 kg
Weight	6 kg

Attaching

Here it shows how to attach gripper to Galaxea A1. To remove them, simply reverse these steps.

1. Alignment Check: Ensure that the four protruding points on the gripper align perfectly with the corresponding recessed points on the robot arm's end-effector mount. Proper alignment ensures the gripper is correctly positioned and centered.
2. Initial Placement: Carefully place the gripper onto the robot arm's end effector mount, ensuring that the protrusions fit snugly into the recesses. This step is crucial for achieving the correct orientation and balance.
3. Screw Fixation: Once aligned, secure the gripper to the robot arm using the three screws provided. These screws should be placed around the outer circle of the mounting area, as shown in the figure. Tighten the screws evenly to prevent any skewing or misalignment.
4. 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.
5. Testing: Before using the robot arm, perform a test run to ensure that the gripper moves smoothly and holds objects securely without any slippage or unexpected movement.

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

Next Step

This concludes the hardware guide for Galaxea A1. For further details, please refer to Galaxea A1 Software Guide.