This repository contains the official documentation, CAD drawings, and debugging tools for the onero Robotic Arm A1, its actuator modules (XD5746 / XD5757), and gripper accessories, developed by OneRobotics (Shenzhen) Co., Ltd. Documents are organized by language and product category.
本仓库包含 onero A1 机械臂、关节模组(XD5746 / XD5757)及夹爪配件的产品文档、CAD 图纸和调试工具,由卧安机器人(深圳)股份有限公司开发。文档按语言和产品类别分类存放。
onero Robotic Arm A1 is a 7-DOF (7 degrees of freedom) modular robotic arm designed for education, research, and industrial automation, with a maximum payload of 3 kg. It is available in three configurations: A1L (left arm), A1R (right arm), and A1S (dual arm).
onero A1 机械臂是一款 7 自由度模块化机械臂,适用于教育科研和工业自动化场景,最大负载 3 kg。提供三种型号:A1L(左臂)、A1R(右臂)和 A1S(双臂)。
Actuator Modules / 关节模组:
| Model | Rated Torque | Gear Ratio | Dimensions | Weight |
|---|---|---|---|---|
| XD5746-1 (radial cable) | 3 N.m | 10:1 | Φ57 ×ばつ 46 mm | 320 g |
| XD5746-2 (axial cable) | 3 N.m | 10:1 | Φ57 ×ばつ 46 mm | 320 g |
| XD5757-1 (radial cable) | 15 N.m | 48.19:1 | Φ57 ×ばつ 56.5 mm | 390 g |
| XD5757-2 (axial cable) | 15 N.m | 48.19:1 | Φ57 ×ばつ 56.5 mm | 390 g |
Key features: 21-bit dual encoder, CAN 2.0 communication (1 Mbps), 20–55 V power input, position / velocity / torque / MIT hybrid control modes.
主要特性:21 位双编码器、CAN 2.0 通信(1 Mbps)、20–55 V 宽电压供电、支持位置/速度/力矩/MIT 混合控制模式。
├── chinese/ # 中文文档
│ ├── arm/ # 机械臂
│ │ ├── A1_产品说明书.pdf
│ │ └── A1_快速入门手册.pdf
│ ├── actuator/ # 关节模组
│ │ ├── 关节说明书.pdf
│ │ └── onero Actuator通信协议.pdf
│ └── gripper/ # 夹爪
│ └── 夹爪产品规格书.pdf
│
├── english/ # English docs
│ ├── arm/ # Robotic Arm
│ │ ├── A1_Product_Manual.pdf
│ │ └── A1_User_Guide.pdf
│ ├── actuator/ # Actuator
│ │ ├── onero Actuator User Guide.pdf
│ │ └── Communication Protocol for the onero Actuator.pdf
│ └── gripper/ # Gripper
│ └── Gripper_User_Guide.pdf
│
├── cad/ # CAD drawings / CAD 图纸
│ ├── arm/ # Robotic Arm / 机械臂
│ │ ├── A1L_3d.stp
│ │ └── A1R_3d.stp
│ ├── actuator/ # Actuator / 关节模组
│ │ ├── XD5746-1_2d.pdf
│ │ ├── XD5746-1_3d.stp
│ │ ├── XD5746-2_2d.pdf
│ │ ├── XD5746-2_3d.stp
│ │ ├── XD5757-1_2d.pdf
│ │ ├── XD5757-1_3d.stp
│ │ ├── XD5757-2_2d.pdf
│ │ └── XD5757-2_3d.stp
│ └── gripper/ # Gripper / 夹爪
│ ├── gripper_2d_closed.pdf
│ ├── gripper_2d_mounting_adapter.pdf
│ ├── gripper_2d_open.pdf
│ └── gripper_3d.stp
│
└── tools/ # Actuator debug tool / 关节电机调试工具
├── README.md
├── motor_debug_tool_v1.0.2.zip # Debug software / 调试软件
├── Debugging Tool Quick Guide.pdf # Quick guide (EN)
└── 关节调试上位机使用说明.pdf # 使用说明(中文)
- C/C++, Python SDK: https://github.com/OpenWonderLabs/ArmApi
- ROS2: https://github.com/OpenWonderLabs/ArmRos