A1XY Hardware Introduction
This user guide will thoroughly explain the hardware data of the Galaxea A1XY.
Safety Guidelines
- Personnel must be trained to understand the operation, safety rules, and emergency response.
- Provide a proper workspace free of hazards like flammables and strong magnetic fields. Keep the area clean and dry.
- Follow the manual's steps and avoid improper actions during operation.
Technical Specifications
| Mechanical | A1X Values | A1Y Values |
|---|---|---|
| Rated Voltage | 24V | 24V |
| Rated Current | 5A | 5A |
| Maximum Current | 8A | 8A |
| Communication Interface | USB2.0,CAN | USB2.0,CAN |
| Performance | A1X Values | A1Y Values |
|---|---|---|
| Degree of Freedom | 6 | 6 |
| Dimensions | 600L x 100W x 305H mm | 600L x 100W x 240H mm |
| Weight | 4.2 kg | 4.2 kg |
| Rated Payload | 3kg@0.6m | 3kg@0.6m |
| Maximum Payload | 5kg@0.6m | 5kg@0.6m |
| Arm Reach | 600 mm | 600 mm |
| Maximum End Linear Velocity | 5 m/s | 5 m/s |
| Maximum End Acceleration | 38 m/s² | 38 m/s² |
| Repeatability | ±0.05 mm | ±0.05 mm |
Hardware Structure
Robot Structure
Joint
A1X
The A1X robot arm has 6 joints with a maximum rotation angle of 330 degrees.
| Joint | Rated Torque (Nm) | Peak Torque (Nm) | Rated Speed (rpm) | Peek Speed (rpm) | Gear Ratio | Working Range |
|---|---|---|---|---|---|---|
| Joint 1 | 9 | 27 | 36 | 100 | 40 | [-165°,165°] |
| Joint 2 | 20 | 50 | 40 | 120 | 39 | [0, 180°] |
| Joint 3 | 9 | 27 | 36 | 100 | 40 | [-190°,0°] |
| Joint 4 | 5 | 12 | 260 | 315 | 10 | [-90°,90°] |
| Joint 5 | 5 | 12 | 260 | 315 | 10 | [-90°,90°] |
| Joint 6 | 5 | 12 | 260 | 315 | 10 | [-165°, 165°] |
Note: The robot arm's joints will have a 2° position limit protection within their operational range.
The working range of each joint of the robot arm is shown in the figure below:
- Figure 1: The maximum rotation angle of Joint 1 of the robot arm in the Yaw direction is 330 degrees, with a rotation radius of 600 mm.
- Figure 2: The maximum rotation angle of Joint 2 and Joint 3 of the robot arm in the Pitch direction is 180 degrees and 190 degrees, respectively; the maximum rotation angle of Joint 4 in the Pitch direction is 180 degrees.
- Figure 3: The maximum rotation angle of Joint 5 of the robot arm in the Yaw direction is 180 degrees; the maximum rotation angle of Joint 6 in the Roll direction is 330 degrees.
A1Y
The A1Y robot arm has 6 joints with a maximum rotation angle of 330 degrees.
Joints 4 and 5 of the A1Y robot arm differ from those of the A1X. Specific parameters are as follows:
| Joint | Rated Torque (Nm) | Peak Torque (Nm) | Rated Speed (rpm) | Peek Speed (rpm) | Gear Ratio | Working Range |
|---|---|---|---|---|---|---|
| Joint 1 | 9 | 27 | 36 | 100 | 40 | [-165°,165°] |
| Joint 2 | 20 | 50 | 40 | 120 | 39 | [0, 180°] |
| Joint 3 | 9 | 27 | 36 | 100 | 40 | [-190°,0°] |
| Joint 4 | 5 | 12 | 260 | 315 | 10 | [-165°,165°] |
| Joint 5 | 5 | 12 | 260 | 315 | 10 | [-105°,105°] |
| Joint 6 | 5 | 12 | 260 | 315 | 10 | [-165°, 165°] |
The working range of each joint of the robot arm is shown in the figure below:
- Figure 1: The maximum rotation angle of Joint 1 of the robot arm in the Yaw direction is 330 degrees, with a rotation radius of 600 mm.
- Figure 2: The maximum rotation angles of Joint 2 and Joint 3 of the robot arm in the Pitch direction are 180 degrees and 190 degrees, respectively; the maximum rotation angle of Joint 4 in the Roll direction is 330 degrees.
- Figure 3: The maximum rotation angle of Joint 5 of the robot arm in the Pitch direction is 210 degrees; the maximum rotation angle of Joint 6 in the Roll direction is 330 degrees.
Base
| Base | Notes |
|---|---|
| Dimension | 75L x 75W mm |
| Power Supply | Rate voltage: 24 V |
| Communication | USB 2.0、CAN |
| Mounting Holes | Four M6 threads with a diameter of 6.3 mm |
End-Effector
Galaxea G1 Gripper
Galaxea G1 is a self-developed parallel gripper with a joint motor and two-finger fixture.
Note: The A1XY robot arm does not include the gripper. If needed, please contact us to purchase.
| Gripper | Value |
|---|---|
| Length | 145 mm |
| Length of Fingers | 78 mm |
| Diameter of Motor | 57 mm |
| Gripper Operating Range | 0 ~ 100 mm |
| Gripper Rated Force | 100 N |
Installing the Gripper
Follow these steps to install the gripper on the arm's end (reverse the steps to remove the gripper).
- Alignment Check: Ensure the three mounting holes around the gripper align with the three at the arm's end.
- Screw Fixation: Once aligned, use the provided three screws to fix and tighten the gripper to the arm's end.
- Final Check: After tightening, check if the gripper is aligned and firmly attached.
- Wiring Connection: Connect the CAN harness located on the outer side of Joint 6 (J6) at the robot arm's end-effector to the communication port of the gripper.
Install Other End-effectors
Follow these steps to install other end effectors to the end of the robot arm (reverse steps to remove them), here taking the dexterous hand as an example:
- Alignment Check: Use a custom adapter flange to align the 4 mounting holes around the dexterous hand and the 3 mounting holes around the flange with the 3 mounting holes at the end of the robot arm. (Note: The robot arm's joints will have a 2° position limit protection within their operational range.)
- Screw Fixing: After alignment, use the provided screws to secure the dexterous hand, flange, and end of the robot arm together.
- Firmness Check: After tightening the screws, check again if the dexterous hand is aligned and securely installed.
- Wiring Connection: Connect the CAN harness located on the outer side of Joint 6 (J6) at the robot arm's end-effector to the communication port of the gripper.