About A1X

Safety Instructions

The Galaxea robotic arm may pose safety hazards if operated improperly.

• Before you start using the robotic arm, be sure to read the following safety notes in detail.
• Personnel who are not yet familiar with this safety guide must be strictly supervised when near the robot and must be clearly informed of the potential risks of robot operation.
• Before using this product, be sure to thoroughly inspect the surrounding environment to rule out any potential safety threats.

Technical Specifications

Mechanical Parameter	A1X Value
Dimensions	600L x 100W x 305H mm
Weight	4.2 kg
Rated Voltage	24V
Rated Current	5A
Maximum Current	8A
Communication Interface	USB2.0, CAN

Performance Parameter	A1X Value
Degrees of Freedom	6
Rated Payload	3kg@0.6m
Maximum Payload	5kg@0.6m
Arm Reach	600 mm
Maximum End-Effector Linear Velocity	5 m/s
Maximum End-Effector Acceleration	38 m/s²
Repeatability	±0.05 mm

Hardware Architecture

Mechanical Structure

Joints

A1X

The A1X robotic arm has 6 joints, with a maximum rotation angle of 330 degrees.

Joint	Rated Torque (Nm)	Peak Torque (Nm)	Rated Speed (rpm)	Peak 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: Each joint of the robotic arm has a 2° limit protection on its working range.

The working range of each joint of the robotic arm is shown in the figure below:

• Figure 1: The maximum rotation angle of Joint 1 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 in the positive Pitch direction are 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 in the Yaw direction is 180 degrees; the maximum rotation angle of Joint 6 in the Roll direction is 330 degrees.

Base

Base	Remarks
Dimensions	75L x 75W mm
Power Port	Rated Voltage: 24 V
Communication Port	USB 2.0, CAN
Mounting Holes	Four M6 threads, 6.3 mm diameter

End-Effector

Galaxea G1 Gripper

The Galaxea G1 is a self-developed parallel gripper, equipped with one joint motor and a two-finger clamp.

Note: The A1XY robotic arm does not include a gripper. Please contact us to purchase one if needed.

Gripper	Remarks
Length	145 mm
Finger Length	78 mm
Motor Diameter	57 mm
Gripper Operating Range	0 ~ 100 mm
Gripper Rated Force	100 N

Installation

Follow the steps below to install the G1 gripper onto the end of the robotic arm (reverse the steps to remove the gripper).

1. Alignment check: Ensure the 3 mounting holes around the gripper are aligned with the 3 mounting holes at the end of the robotic arm.
2. Screw fixing: After alignment, use the 3 provided screws to fix and tighten the gripper onto the end of the robotic arm.
3. Security check: After tightening the screws, check again whether the gripper is properly aligned and securely mounted.
4. Connect the harness: Connect the CAN harness on the outer side of J6 at the end of the robotic arm to the communication port of the gripper.

Installing Other End-Effectors

Follow the steps below to install other end-effectors onto the end of the robotic arm (reverse the steps to remove them). A dexterous hand is used here as an example.

1. Alignment check: Using the custom adapter flange, align the 4 mounting holes around the flange with the dexterous hand, and align the flange with the 3 mounting holes around the end of the robotic arm.
2. Screw fixing: After alignment, use the provided screws to fix and connect the dexterous hand, flange, and the end of the robotic arm together.
3. Security check: After tightening the screws, check again whether the dexterous hand is properly aligned and securely mounted.
4. Connect the harness: Connect the CAN harness on the outer side of joint J6 at the end of the robotic arm to the communication port of the end-effector.

The flange STP file can be found athttps://github.com/userguide-galaxea/STP/tree/main/A1X