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 | 1695 mm when standing 878 mm when folded |
| Depth | 220 mm for chest 625 mm for chassis |
| Width | 676 mm |
| Weight | 96 kg with battery |
| Nominal Voltage | 48 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 |
| Performance | Values |
|---|---|
| Degree of Freedom | 24 DOF in total 6 DOF for chassis 4 DOF for torso 14 DOF for dual arms with grippers |
| Arm Payload | Rated: 2 kg@0.5 m Max.: 5 kg@0.5m |
| Operating Range | Vertical: 0 ~ 2000 mm Horizontal: 700 mm |
| Torso Functions | Lift/Tilt/Swivel |
| Function | Torso: Lift/Tilt/Swivel Chassis: Ackerman/Translation/Spinning |
| Control | Values |
|---|---|
| Control Mode | Joystick Controller Teleoperation Upper Computer Command |
| Joystick Controller | Radio Frequency: 2.4G Max. Remote Range: 1.5 km |
| Communication Interface | CAN |
Robot Structure
Head
The ZED2 3D + DEPTH Camera is attached to the robot head. It provides high-definition 3D video and neural depth perception of the environment, with a wide field of view and an electronically synchronized rolling shutter, making it an ideal choice for applications requiring precise spatial awareness and real-time 3D mapping.
Arm
Galaxea R1 features two Galaxea A1 robot arms. Each arm consists of two main links made from Acrylonitrile Butadiene Styrene (ABS), which is lightweight, rigid and durable. These links are mounted on a base inserted inside the body, and interconnected by six joints. Each joint is equipped with planetary gear motors, enabling independent variable-speed operation with high precision and torque.
In the current version of Galaxea A1, the motor does not have a brake, so cutting off the power may cause the robotic arm to drop suddenly. We will continue to improve the product to address this issue.
| Item | Notes |
|---|---|
| Dimensions | Deployed: 918L x 128W x 237H mm Folded: 545L x 128W x 277H mm |
| Degree of Freedom | 7 |
| Maximum Payload | 5 kg |
| Gripper Rated Force | 100 N |
| Weight | 6 kg |
See Galaxea A1 User Guide if you want to explore more.
Torso
| Item | Notes |
|---|---|
| Operating Range (Height) | 0 ~ 600 mm |
| Waist Movement Space (Yaw) | ±170° |
| Hip Movement Space (Pitch) | ±100° |
| Knee Movement Space | W1: 0°~100° W2: -154°~145° |
| Torso Motor Torque | Rated: 100 NM Max.: 200 NM |
Base
The chassis is triangular in shape and equipped with three steering wheels. The power button is on the left side of the chassis and the emergency stop button is at the rear of the chassis.
To charge the robot, please use the provided power cable and insert it into the 48 V power supply port located at the bottom of the rear of the chassis.
| Item | Notes |
|---|---|
| Dimensions | 445L x 476W x 313H mm |
| Power Button | Used to turn on/off the robot |
| Emergency Stop Button | Used for immediate power interruption during emergencies |
| Power Supply Port | Rated voltage 48 V |
Sensors
Galaxea R1 includes a number of sensors that allow it to perceive the environment.
| Sensor | Values |
|---|---|
| Camera | Head: 1 * Dual Camera Wrist: 2 * RGBD Camera Chassis: 5 * RGB Camera |
| LiDar | 1 * 360° |
Camera
| Specification | ZED 2 | RealSense D435i | SENSING SG2-IMX390C-GMSL2-H120H |
|---|---|---|---|
| Output Resolution | Depth: 1920 x 1080 @30fps | Depth: 1280 x 720 @30FPS RGB: 1920*1080 |
Depth: 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 | \ |
| Dimensions | 174.9L x 29.8W x 31.9H mm | 90L x 25W x 25H mm | 30L x 30W x 22.5H mm |
| Weight | 164 g | 75 g | ＜50 g |
| Operating Temp. Range | -10 °C ~ +45°C | 0 ~ +85°C | -40 ~ +85°C |
LiDAR
LIVOX MID-360 delivers 3D perception in 360 degrees for robots, featuring active anti-interference capabilities and resilience in both bright and low-light environments.
| Specification | Values |
|---|---|
| Basic Computating Capability | 14 Core 3.8 GHz CPU |
| Laser Wavelength | 905 nm |
| FOV | 360°H x 59°V |
| Detection Range | 40 m @10% Reflectivity 70 m @80% Reflectivity |
| Close Proximity Blind Zone | 0.1 m |
| Data Port | 100 BASE-TX Ethernet |
| IMU | Built-in IMU Model |
| Operating Temp. Range | -20℃ ~ +55℃ |
| Dimensions | L65 x W65 x H60 mm |
| Weight | 265 g |
Computing Unit
| Units | Single SOC | Dual SOC |
|---|---|---|
| Basic Computating Capability | 8 Core 2.2GHz CPU | 2 * 12 Core 2.2GHz CPU |
| Deep Learning Computing Capability | 200 Tops | 550 Tops |
| Memory | 1 x LPDDR5@32G | 2 x LPDDR5@64G |
| Hard Disk | 1 x SSD@1T | 2 x SSD@512G |
| WiFi Module | M.2 Wifi with AP mode | M.2 Wifi with AP mode |
Next Step
This concludes the hardware guide for Galaxea R1. For further details, please refer to Galaxea R1 Software Guide.