onero Robotic Arm, Actuator & Gripper Documentation

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。

Product Overview / 产品简介

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 × 46 mm	320 g
XD5746-2 (axial cable)	3 N.m	10:1	Φ57 × 46 mm	320 g
XD5757-1 (radial cable)	15 N.m	48.19:1	Φ57 × 56.5 mm	390 g
XD5757-2 (axial cable)	15 N.m	48.19:1	Φ57 × 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。

Directory Structure / 目录结构

├── chinese/                            # 中文文档
│   ├── arm/                            # 机械臂
│   │   ├── A1_产品说明书.pdf
│   │   └── onero Robotic Arm A1机械臂快速入门用户手册.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
│   └── videos/                         # 视频教程
│       ├── A1机械臂安装教程.mp4
│       └── 机械臂示教.mp4
│
├── english/                            # English docs
│   ├── arm/                            # Robotic Arm
│   │   ├── A1_Product_Manual.pdf
│   │   └── onero Robotic Arm A1 User Guide.pdf
│   ├── actuator/                       # Actuator
│   │   ├── onero Actuator User Guide.pdf
│   │   └── Communication Protocol for the onero Actuator.pdf
│   ├── gripper/                        # Gripper
│   │   └── Gripper_User_Guide.pdf
│   └── videos/                         # Video tutorials
│       ├── onero Robotic Arm A1 Installation Guide.mp4
│       └── Drag Teaching.mp4
│
├── 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）

Development Resources / 开发工程

• Python SDK: https://pypi.org/project/onero-sdk
• ROS2: https://github.com/OpenWonderLabs/ArmRos