About A1Z
Open Source Projects
Follow the Galaxea GitHub open-source community:
- A1Z: https://github.com/userguide-galaxea/GALAXEA-A1Z
- A1Z-T: https://github.com/userguide-galaxea/OpenA1Z-T
License
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Open-source license: This project is released under the MIT License. Copyright belongs to Galaxea.
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Third-party dependency licenses:
Dependency License Description numpy BSD-3-Clause Numerical computing python-can LGPL-3.0 CAN bus communication pinocchio (pin) BSD-2-Clause Robot dynamics computation
Safety Guidelines
The Galaxea robotic arm may create safety risks if it is operated incorrectly.
- Before using the robotic arm, read the following safety instructions carefully.
- Personnel who are not familiar with these safety guidelines must be strictly supervised when approaching the robot and must be clearly informed of the potential risks of robot operation.
- Before using this product, thoroughly inspect the surrounding environment to eliminate any potential safety hazards.
Technical Specifications
A1Z robotic arm
| Mechanical Parameter | A1Z Value |
|---|---|
| Dimensions | 600L x 100W x 305H mm |
| Weight | 4.2 kg |
| Rated Voltage | 24V |
| Current | 15A |
| Communication Interface | CAN |
| Performance Parameter | A1Z Value |
|---|---|
| Degrees of Freedom | 6 |
| Rated Payload | 3kg |
| Peak Payload | 5kg |
| Reach | R:90-626.5 mm, H:722 mm |
| Maximum End-Effector Linear Velocity | 7 m/s |
| Maximum End-Effector Acceleration | 22 m/s² |
| Repeatability | ±0.1 mm |
Mechanical Joints
The A1Z robotic arm has six joints. Each joint supports a rotation range of 240 degrees.
A1Z robotic arm joint structure
| Joint | Rated Torque (Nm) | Peak Torque (Nm) | Rated Speed (rpm) | Peak Speed (rpm) | Motion Range (Software Control) | Motion Range (Hardware Limit Protection) |
|---|---|---|---|---|---|---|
| Joint J1 | 20 | 50 | 54 | 60 | [-120°, 120°] | [-130°, 130°] |
| Joint J2 | 25 | 50 | 54 | 60 | [0°, 180°] | [0°, 202°] |
| Joint J3 | 20 | 50 | 54 | 60 | [-180°, 0°] | [-200.38°, 0°] |
| Joint J4 | 9 | 25 | 36 | 52 | [-85°, 85°] | [-91.88°, 110.38°] |
| Joint J5 | 3.5 | 7 | 100 | 150 | [-85°, 85°] | [-90°, 90°] |
| Joint J6 | 3.5 | 7 | 100 | 150 | [-115°, 115°] | [-120°, 120°] |
Joint Motion Range
- Joint J1: maximum rotation in the yaw direction is 240 degrees, with a rotation radius of 618.5 mm.
- Joint J2 and Joint J3: maximum rotation in the positive pitch direction is 180 degrees.
- Joint J4: maximum rotation in the pitch direction is 170 degrees.
- Joint J5: maximum rotation in the yaw direction is 170 degrees.
- Joint J6: maximum rotation in the roll direction is 230 degrees.
View the A1Z joint limit parameters.
Connectors
A1Z base connector diagram
End Effector
Galaxea G1Z Gripper
Galaxea G1Z is an in-house parallel gripper equipped with one joint motor and a two-finger gripper.
<span style={{ color: 'blue' }}>Note: The A1Z robotic arm does not include a gripper by default. The following section describes the standard G1Z gripper. For purchase inquiries or customized fingertip requirements, please contact us.
G1Z gripper
| Gripper | Parameter |
|---|---|
| Length | 190 mm |
| Gripper Depth | 104 mm |
| Motor Width | 109 mm |
| Gripper Operating Range | 0 ~ 104 mm |
| Rated Gripping Force | 150 N |
| Maximum Opening/Closing Speed | 45 mm/s |
Installation
Follow the steps below to install the G1Z gripper onto the end of the robotic arm. Reverse the steps to remove the gripper.
G1Z installation diagram
- Alignment check: Ensure that the three mounting holes around the gripper align with the three mounting holes at the end of the robotic arm, with the camera mounting holes facing upward.
- Screw fastening: After alignment, use the three supplied screws to fasten the gripper securely to the end of the robotic arm.
- Stability check: After tightening the screws, check again that the gripper is aligned and firmly installed.
- Cable connection: Connect the CAN cable on the outside of J6 at the arm end to the gripper communication port.