Galaxea A1 Hardware Guide

This manual provides engineering data and user guidance for working with Galaxea A1 hardware.

Technical Specification

Parameters	Value
Rated Voltage	48 V
Rated Current	6 A
Maximum Current	10 A
Communication Interface	USB 2.0 Port

Performance	Value
Dimensions	Deployed: 775L x 128W x 237H Folded: 449L x 128W x 277H
Weight	6 kg
Rated Payload	2 kg
Maximum Payload	3.5 kg
Reach	700 mm
Maximum End-Effector Linear Velocity	10 m/s
Maximum End-Effector Acceleration	40 m/s²
Degree of Freedom	6
Repeatability	1 mm

Hardware Structure

Robot Structure

Joint

This section details the operating range, rated torque, and peak torque of the six joints, showing the arm's flexibility and strength in various operations.

Joint	Range	Rated Torque
Joint 1	[-165°, 165°]	20 Nm
Joint 2	[0°, 180°]	20 Nm
Joint 3	[-190°, 0°]	9 Nm
Joint 4	[-165°, 165°]	3 Nm
Joint 5	[-95°, 95°]	3 Nm
Joint 6	[-105°, 105°]	3 Nm

• View 1: Joint 1 has a working radius of 715 mm and a maximum rotation angle of 330 °.
• View 2: Joint 2 has a maximum rotation angle of 180 °, and Joint 3 has a maximum rotation angle of 190 °.
• View 3: Joints 4 and 6 have a maximum rotation angle of 330 °, and Joint 5 has a maximum rotation angle of 190 °.

Arm

Galaxea A1's arm is connected by dual rods. Each joint is equipped with a planetary gear motor, enabling independent speed control with high precision and torque, and allowing flexible operation in any direction commanded by the controller.

The current version's motors lack brakes, so the arm may drop suddenly when power is cut.

Item	Notes
Length	Deployed 775 mm Folded 449 mm
Height	Deployed 237 mm Folded 277 mm
Width	128 mm

Base

Galaxea A1's base has two ports on the back for communication 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 Gripper

Galaxea G1 is a self-developed parallel gripper with a joint motor and two-finger fixture.

Note: The A1 robotic arm does not include the gripper. If needed, please contact us to purchase.

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:

Install Gripper

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

1. Alignment Check: Ensure the three mounting holes around the gripper align with the three at the arm's end.
2. Screw Fixation: Once aligned, use the provided three screws to fix and tighten the gripper to the arm's end.
3. Final Check: After tightening, check if the gripper is aligned and firmly attached.

Dexterous Hand

The dextrous hand has a certain grip force and moderate speed, suitable for grasping and manipulating tasks in robotic or prosthetic applications. It combines strength and control to handle various objects effectively, enhancing the ability of robots or prosthetics to perform complex tasks.

Note: The A1 robotic arm does not include the dextrous hand. If needed, please contact us to purchase.

Feature	Value
Degrees of Freedom	6
Number of Joints	12
Weight	540 g
Repeatability	±0.20 mm
Max. Finger Grip Force	10 N

Install the Dextrous Hand

1. Alignment Check: Use a custom adapter flange to align the four mounting holes around the dextrous hand and the flange, as well as the three mounting holes around the arm's end and the flange.
2. Screw Fixation: Once aligned, use the provided screws to fix the dextrous hand, flange, and arm's end together.
3. Final Check: After tightening, check if the dextrous hand is aligned and firmly attached.

Next Step

This concludes the hardware introduction of Galaxea A1. We recommend exploring the Galaxea A1 Software Guide for more detailed information.