Galaxea R1 Hardware Guide
Disclaimer
Galaxea R1 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 Specifications
| Mechanical | Values |
|---|---|
| Height | 1700 mm when standing |
| Depth | 215 mm for chest 625 mm for chassis |
| Width | 675 mm |
| Weight | 96 kg with battery |
| Nominal Voltage | 54.6 V |
| Rated Capacity | 35 Ah |
| Power Supply | Lithium-ion Battery |
| Battery Energy | 1680 Wh |
| Battery Management System (BMS) | Supported |
| Cooling System | Low-noise Local Air Cooling |
| Quantity of Air Duct | 2 |
| Performance | Values |
|---|---|
| Degree of Freedom | 24 DOF in total 6 DOF for chassis 4 DOF for torso 7 DOF for single arm with gripper |
| Arm Payload | Rated: 2 kg@0.5 m Max.: 5 kg@0.5m |
| Operating Range | Vertical: 0 ~ 2000 mm Horizontal: 700 mm (86 mm with gripper) |
| Function | Torso: Lift/Tilt/Swivel Chassis: Ackerman/Translation/Spinning |
| Control | Values |
|---|---|
| Joystick Controller | Radio Frequency: 2.4 G Max. Remote Range: 1.5 km |
| Communication Interface | CAN |
Robot Structure
Head
The head is equipped with a binocular stereo camera.
Arm
Galaxea R1 features two Galaxea A1 robot arms and two Galaxea G1 grippers. Each arm consists of two main links which are lightweight, rigid and durable. Arm joints are equipped with planetary gear motors, enabling independent variable-speed operation with high precision and torque.
Important: In the current version of Galaxea A1, motors do not have brakes, so cutting off power may cause the robot arms to drop suddenly. We will continue to improve the product to address this issue.
| Item | Notes |
|---|---|
| Dimensions | Deployed: 863L x 128W mm Folded: 550L x 128W mm |
| Degree of Freedom | 6 DOF for single arm with one gripper |
| Maximum Payload | 5 kg for single arm |
| Weight | 6.2 KG |
| Gripper Rated Force | 100 N |
| Gripper Stroke | 0 ~ 100 mm |
See Galaxea A1 User Guide if you want to explore more.
Torso
| Item | Notes |
|---|---|
| Dimension | 1400H x 340W x mm |
| Function | Lift/Tilt/Swivel |
| Waist Movement Space (Yaw) | ± 170° |
| Hip Movement Space (Pitch) | ± 100° |
| Knee Movement Space | W1: 0° ~ 100° W2: -154° ~ 145° |
| Torso Motor Torque | Rated: 108 NM Max.: 304 NM |
| USB | Used to connect the mouse and keyboard. |
| 3-Pin Aviation Plug | Used to power external devices. One thick red wire of 24V, one thin red wire of 5V, and one black earth wire. |
Base
| Item | Notes |
|---|---|
| Dimensions | 675L x 636W x 346H mm |
| Power Button | Used to turn on/off the robot |
| Power Supply Port | Rated voltage 54.6 V |
| Emergency Stop Button | Used for immediate power interruption during emergencies |
| Air Duct | Used to dissipate the heat generated inside the machine and prevent performance degradation or instability caused by overheating. |
| Battery Indicator | Tri-color breathing light shows the power usage status. 🟩 Green: above 70% 🟨 Yellow: 30% ~ 70% 🟥 Red: below 30% Flashing Green: charging |
The peripheral interfaces are located on the top of the rear of the chassis.
| Peripheral Interface | Notes |
|---|---|
| Ethernet | Used to connect the ethernet. |
| HDMI | Used to connect display screen. |
| 3-pin Aviation Plug | Used to power external devices. One thick red wire of 24V, one thin red wire of 5V, and one black earth wire. |
Sensors
Galaxea R1 is equipped with a multitude of sensors, among which are eight HD cameras and two LiDARs that enable it to sense the surroundings in all directions and not only perceive but also operate with precision.
| Sensor | Values |
|---|---|
| Camera | Head: 1 x Binocular Depth Camera Wrist: 2 x Monocular Depth Camera Chassis: 5 x Monocular Camera |
| LiDar | 1 x 360° (Two LiDARs are optional) |
Camera
| Specification | Head | Wrist | Chassis |
|---|---|---|---|
| Type | Binocular Depth Camera | Monocular Depth Camera | Monocular Camera |
| Quantity | 1 | 2 | 5 |
| Output Resolution | 1920 x 1080 @30fps | 1280 x 720 @30FPS (RGB 1920 x 1080) |
1920 x 1080 @30fps |
| Field of View | 110°H x 70°V x 120°D | 87°H x 58°V x 95°D | 118°H x 62°V |
| Depth Range | 0.3 m ~ 20 m | 0.2 m ~ 3 m | \ |
| Operating Temp. Range | -10 °C ~ +45°C | 0 ~ +85°C | -40 ~ +85°C |
| Dimensions | 175L x 30W x 32H mm | 90L x 25W x 25H mm | 30L x 30W x 23H mm |
| Weight | 164 g | 75 g | ＜50 g |
| Brand & Type | Zed 2 | RealSense D435i | SENSING H120H |
LiDAR
The chassis is equipped with up to two 360-degree LiDARs*, which are of high precision and resistant to interference.
| Specification | Values |
|---|---|
| Quantity | 1 ~ 2 |
| FOV | 360°H x 59°V |
| Laser Wavelength | 905 nm |
| Close Proximity Blind Zone | 0.1 m |
| Data Port | 100 BASE-TX Ethernet |
| IMU | Built-in IMU Model |
| Operating Temp. Range | -20 ~ +55℃ |
| Dimensions | 65L x 65W x 60H mm |
| Weight | 265 g |
| Brand & Type | LIVOX MID-360 |
Note: One LiDAR is standard, the number of LiDAR configurations can be selected according to user needs.
Computing Unit
| Units | Single SOC | Dual SOC |
|---|---|---|
| Basic Computating Capability | 8 Core 2.2GHz CPU | 2 * 8 Core 2.2GHz CPU |
| Deep Learning Computing Capability | 200 TOPS | 550 TOPS |
| Memory | 1 x LPDDR5@32G | 2 x LPDDR5@32G |
| Hard Disk | 1 x SSD@1T | 2 x SSD@512G |
| Camera | 8 x GMSL | 8 x GMSL (SoC-1) + 8 x GMSL (SoC-2) |
| Ethernet | 4 x Gigabit Ethernet (M12 cable) | 3 x SoC-1 Gigabit Ethernet (M12 cable) + 3 x SoC-2 Gigabit Ethernet (M12 cable) |
| WiFi Module | M.2 Wifi with AP mode | M.2 Wifi with AP mode |
For different configurations, please contact us.
Next Step
This concludes the hardware guide for Galaxea R1. For further details, please refer to Galaxea R1 Software Guide.