R1 Lite Product Hardware Introduction

Galaxea R1 Lite 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	977 mm when standing
Width	596 mm
Weight	55 kg with battery
Rated Voltage	48 V
Power Supply	Lithium-ion Battery
Battery Capacity	15Ah
Battery Energy	720 Wh
Battery Management System (BMS)	Supported

Performance	Values
Degree of Freedom	23 DOF in total: 6 DOF for chassis 3 DOF for torso 7 DOF for single arm with gripper
Arm Payload	Rated: 3 kg@0.6 m Max.:5 kg@0.6 m
Operating Range	Vertical: 0 ~ 1600 mm (250mm in front of the wheel) Horizontal: 760 mm (760mm in front of the wheel)
Function	Torso: Lift/Tilt Chassis: Ackerman/Translation/Spinning

Robot Structure

Arm

The robot arm is the central operating component of the R1 Lite, mounted on the platform and utilized to execute a variety of precise operational tasks. The R1 Lite is equipped with two Galaxea A1X robot arms and two Galaxea G1 grippers. It boasts a total of 7 DOF in motion, enabling flexible grasping and manipulation. The six joints of the robot arm are fitted with high-precision, high-torque planetary motors, allowing for independent variable-speed operations.

Important: For your safety, before you power off R1 Lite, please hold two arms with your hand to prevent it from suddenly falling down, since motors do not have brakes.

Arm（without gripper）	Notes
Dimensions	Deployed: 600L x 100W mm Folded: 385L x 100W mm
Degree of Freedom	6
Pyload	Rated: 3 kg@0.6 m Max.: 5 kg@0.6 m
Weight	4.2 kg

Gripper	Notes
Gripper Rated Force	100 N
Gripper Stroke	0 ~ 100 mm

Platform

The platform serves as the foundational base for the installation of the robot arm, mounted atop the torso. It provides stable support for the robot arm and, through its connection with the torso, ensures overall structural coordination. The design of the platform emphasizes structural strength and stability, enabling it to withstand various forces and torques generated by the robot arm during operation. Additionally, it is equipped with precise mounting interfaces to facilitate the rapid installation and debugging of the robot arm.

Platform	Notes
Dimensions	670L x 298W mm
Peripheral Interfaces	2-pin aviation connector for communication 6-pin aviation connector for power supply

Torso

The torso is the main structure of the R1 Lite, serving to connect the platform and the chassis. It not only provides support for the robot arms and the platform but also houses some critical electrical and control systems, making it an essential component of the entire robot. The design of the torso emphasizes compactness and reliability, while also ensuring efficient use of internal space.

Torso	Notes
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
Soft Switch	Used to power R1 Lite on and off.

Chassis

The chassis is the foundational support structure of the R1 Lite, featuring a self-developed three-steering-wheel module, W1, with a total of 6 DOF, enabling 360° unlimited rotation. This design allows the robot to move and turn with greater flexibility, adapting to complex environments and task requirements.

Important: The R1 Lite supports two power supply modes: battery-powered or AC-powered. Users can select the appropriate power configuration for the robot based on their specific needs.

Chassis	Notes
Dimensions	596L x 600W x 250H mm
Power Button	Hard switch, used to turn on/off the R1 Lite.
Emergency Stop Button	Used immediately halt all operations in case of an emergency.
Battery Charging Port	Rated voltage 48 V
AC Charging Port	Rated Voltage: 110 - 220 V (Optional)

Sensors

The Galaxea R1 Lite offers optional platform binocular cameras and wrist cameras on the robot arms.

Sensor	Values
Camera	Platform: 1 x Binocular Camera Wrist: 2 x Monocular Depth Camera

Camera

Specification	Platform	Wrist
Type	Binocular Depth Camera	Monocular Depth Camera
Quantity	1	2
Output Resolution	2560*720 @15/30/60FPS	1280 x 720 @30FPS (RGB 1920 x 1080)
FOV	126°H x 116°V x 80°D	87°H x 58°V x 95°D
Depth Range	0.25 m ~ 10 m	0.2 m ~ 3 m
Operating Temp. Range	-10 °C ~ +45°C	0 ~ +85℃
Dimensions	90L x 18W x 17.8H mm	90L x 25W x 25H mm
Weight	50 g	75 g

Computing Unit

Units	NUC
Basic Computating Capability	14 Core 2.5GHz CPU I9-12900HK (Up to 5.0 Ghz)
Power Supply	Voltage: 19 V Current: 6.32 A
Weight	358 g
Memory	1 x LPDDR4@32G
Hard Disk	1 x SSD@1T
Interface	USB2.0: 1 USB3.0: 3 Type-C: 1 HDMI: 2
Heat Dissipation	Smart fan + All-copper heat sink
WiFi Module	AX 201, WIFI 6
Bluetooth	BT 5.2

For different configurations, please contact us at product@galaxea.ai

Next Step

This concludes the hardware guide for Galaxea R1 Lite. For further details, please refer to Galaxea R1 Lite Software Guide.