Galaxea B1 Hardware Guide
This manual provides engineering data and user guidance for working with the Galaxea B1 hardware.
Disclaimer
Galaxea B1 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
| Mechanical | Values |
|---|---|
| Dimensions | 477L * 520W * 363H mm |
| Weight | 51 kg |
| Wheelbase | 381 mm |
| Wheel Track | 384 mm |
| Battery | Lithium-ion |
| Nominal Voltage | 48 V |
| Rated Capacity | 30 Ah |
| Power Adapter | 273 W |
| Steering Type | Four-wheel driving and steering |
| Performance | Values |
|---|---|
| Maximum Speed | 1 m/s |
| Ground Clearance | N/A |
| Maximum Payload | 70 kg |
| Control | Values |
|---|---|
| Control Mode | Teleoperation |
| Computing Unit Command | Joystick Controller (2.4G/Maximum Range 1.5km) |
| Communication Interface | CAN |
Chassis Operation
Galaxea B1 features four steering wheels, each equipped with two steering motors, totaling 8 motors.
| Item | Notes |
|---|---|
| Power Button | Used to turn on/off the chassis |
| Emergency Stop Button | Used for immediate power interruption during emergencies |
| Power Port | 2-pin aviation connector with 48 V rated voltage |
| CAN Interface | 2-pin aviation connector |
| External Power Outlet | 3-pin aviation connector with 48 V rated voltage |
Operation Guide
The chassis can be controlled and operated using either a Joystick Controller or a Computing Unit.
Please ensure all switches (SWA/SWB/SWC/SWD) are in the top position before you do any actions. This will place the machine in a stop state, preventing the chassis from operating.
| Item | Chassis Control Mode | Dual Ackermann Mode | Spinning Mode | Translation Mode |
|---|---|---|---|---|
| Joystick Controller | ||||
| Switches | Switch SWB to middle | Switch SWC to top | Switch SWC to middle | Switch SWC to bottom |
| Left Joystick | \ | Move up/down to control forward/backward movement | Move up/down to control counter-clockwise/clockwise rotation | Move up/down to control forward/backward movement |
| Right Joystick | \ | Move left/right to control steering angle | \ | Move left/right to control left/right turning |
| Computing Unit | ||||
| Switches | Switch SWB to bottom and switch SWC to middle | Follow the steps in the Development and Operation Tutorials to start the action. | ||
PC Connection
To achieve efficient data communication and control within the system, we provided a USB-to-CAN Adapter for users to connect the chassis to PC.
| Item | Value |
|---|---|
| Dimensions | 7.9L * 2.4W * 1.5H cm |
| USB Speed | 2.0 Full Speed 12m/s |
| Receiving Capacity | 8500 frames/sec at 1M |
| Baud Rate Detection | Yes |
| CAN Interface | Screw Terminal Block (CANH+GND+CANL) |
| CAN Baud Rate | 5K - 1Mbps |
| PC Interface | USB 1.1/2.0/3.0 |
Please follow the steps:
-
Use the provided 2-pin aviation connector and cable and connect the USB-to-CAN Adapter to the CAN interface located on the rear of the chassis.
-
Press the boat-shaped power button to turn on the chassis and rotate the emergency stop button clockwise to release it.
-
Verify the wiring of the USB-to-CAN Adapter: red wire to the H port and the black wire to the L port.
-
Use the USB cable and connect the USB-to-CAN Adapter to PC.
To check if the CAN connection is functioning correctly, please refer to the CAN Connection in the following chapters.
Next Step
This concludes the hardware information of Galaxea B1. For further coding and interface details, please refer to Galaxea B1 Software Guide.