R1 Lite Hardware Introduction

The R1 Lite is an integrated, modularly designed dual-arm mobile platform focused on data collection and development tasks. Its structure is primarily divided into four main areas: the robotic arms, the platform, the torso, and the chassis. Each area is meticulously designed to ensure high efficiency and stability of overall performance. This document details information about the R1 Lite's performance parameters, electrical configuration, and mechanical structure, helping you better understand and use this product.

Parameter Specifications

Mechanical Parameters	Value
Height	1281 mm
Width	596 mm (Chassis); 670 mm (Platform)
Weight	55 kg (including battery)
Rated Voltage	48 V
Battery	Lithium Battery
Battery Capacity	15Ah
Battery Energy	720Wh
Battery Management System (BMS)	Supported

Performance Parameters	Value
Degrees of Freedom (DOF)	Total 23 DOF: Chassis 6 DOF Torso 3 DOF Single Arm with Gripper 7 DOF
Arm Payload	Rated: 3 kg@0.6 m Max: 5 kg@0.6 m
Vertical Operating Range	0-1.7m
Functionality	Torso: Lift/Lower, Forward/Backward Translation Chassis: Ackermann/Translation/Spin

Robot Structure

Robotic Arms

The robotic arms are the core operational components of the R1 Lite, installed on the platform for performing various precise manipulation tasks. The R1 Lite is equipped with two Galaxea A1X robotic arms and two Galaxea G1 grippers. It possesses 7 degrees of freedom per arm, enabling flexible grasping and manipulation. The six joints of the arm are equipped with high-precision, high-torque planetary motors, allowing for independent variable speed operation.

Note: The joint motors currently do not have brakes. For your safety, please support both robotic arms by hand before powering off the R1 Lite to prevent them from suddenly falling.

Arm (without gripper)	Remarks
Dimensions	Extended: 600L x 100W mm Folded: 385L x 100W mm
Arm DOF	6
Payload	Rated: 3 kg@0.6 m Peak: 5 kg@0.6 m
Weight	4.2 kg

Gripper	Remarks
Gripper Rated Force	100 N
Gripper Motion Range	0 ~ 100 mm

Platform

The platform serves as the mounting base for the robotic arm, mounted on top of the trunk. It provides stable support for the robotic arm and, through its connection to the trunk, ensures overall structural coordination. Designed with a focus on structural strength and stability, the platform is capable of withstanding the various forces and moments generated by the robotic arm during operation. It also features a precise V-mount interface for quick installation and commissioning of the robotic arm.

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

Torso

The trunk is the main structure of the R1 Lite, connecting the platform and chassis. It not only supports the robotic arm and platform but also houses some key electrical and control systems, making it a crucial component of the entire robot. The trunk's design prioritizes compactness and reliability while also ensuring optimal use of internal space. Controlled by a remote controller or a host computer, the trunk can be raised and lowered, and moved forward and backward to meet operational needs in various locations.

Torso	Remarks
Waist Motion Range (Yaw)	± 170°
Hip Motion Range (Pitch)	± 100°
Knee Joint Motion Range	W1: 0°~100° W2: -154°~145°
Torso Motor Torque	Rated: 108 Nm Max: 304 Nm
Soft Switch	Used to turn the R1 Lite power on/off

Chassis

The chassis is the foundational support structure of the R1 Lite, utilizing three self-developed steering wheel modules W1, totaling 6 degrees of freedom. It enables 360° unlimited rotation, supporting translation, spin, and Ackermann motion. This design makes the robot more agile during movement and turning, allowing it to adapt to complex environments and task requirements.

Note: The R1 Lite supports two power supply methods: battery power or AC power supply. Users can choose the robot's power configuration according to their actual situation.

Chassis	Remarks
Dimensions	596L x 600W x 250H mm
Power Switch	Hard switch, used to turn the R1 Lite power on/off.
Emergency Stop Switch	In emergency or dangerous situations, press to immediately stop all operations.
Battery Charging Port	Rated Voltage 48V
AC Power Supply Port	Rated Voltage 110 - 220 V (Optional)

Sensors

The Galaxea R1 Lite can be optionally equipped with a platform binocular camera and wrist cameras on the arms.

Sensors	Remarks
Cameras	Platform: 1 x Pure Binocular Vision Camera Wrist: 2 x Monocular Depth Camera

Cameras

Specification	Platform	Wrist
Type	Pure Binocular Vision Camera	Monocular Depth Camera
Quantity	1	2
Output Resolution	2560*720 @15/30/60FPS	1280 x 720 @30FPS (RGB 1920 x 1080)
Field of View (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 Temperature	-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

Unit	NUC
Basic Computing Power	14-core 2.5GHz CPU I9-12900HK (Up to 5.0Ghz)
Power Supply	Voltage: 19 V Current: 6.32 A
Weight	358 g
Memory Chip	1 x LPDDR4@32G
Hard Drive	1 x SSD@1T
Interfaces	USB2.0: 1 USB3.0: 3 Type-C: 1 HDMI: 2
Cooling System	Smart Fan + Full Copper Heat Sink
WiFi Module	AX 201, WIFI 6
Bluetooth	BT 5.2

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