Hardware Overview

You choose your Axol setup when you order. Every setup has these parts:

• Axol: the dual-arm robot. Every configuration starts here.
• Mount: one of the following.
  • Standalone: bolt Axol to your own table or fixture.
  • Owl Mount: a rigid column that bolts to a table or fixture.
  • Ox Cart: height-adjustable mobile cart with a manual lift and leveling casters.
  • Jelly Mobile: powered mobile base with a battery and telescoping lift.
• Camera Kit (optional): two ZED X One S Fisheye wrist cameras and one ZED X Mini stereo head camera, with mounts and GMSL2 cables.
• Compute Kit: the NVIDIA Jetson computer that runs Axol. It comes in three sizes:
  • ZED Box Orin: Jetson Orin NX 16GB in the industrial ZED Box.
  • Jetson AGX Orin: 64GB, for running the full Camera Kit.
  • Jetson Thor: 128GB Blackwell, for VLA policies and the full Camera Kit on one box.

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Axol Overview

Axol ships fully assembled and ready to mount. It attaches with four M8×12 bolts that thread in from below. The hole positions are in the mounting holes diagram. The back of the robot has these connectors:

• 2× GMSL2 ports for the wrist cameras.
• 1× XT90 connector for power (24V DC, 60A peak).
• 1× locking USB-C connector for control.

Axol works with two grippers:

• Parallel: the standard two-finger gripper.
• Parcel: a gripper with hinged plates, used by box mode.

Tell the software which gripper is fitted. Use the Gripper setting under Axol settings → Robot in the control panel, or pass --axol.gripper parallel or --axol.gripper parcel on the command line (see AxolConfig.gripper). When the arms first enable after power-up, Axol measures each gripper’s travel against its end stops.

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Reference diagrams

• Mounting holes (PDF)
• Joint layout drawing (PDF)
• Gripper drawing (PDF)
• Gripper CAD model (STEP)

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Owl Mount Overview

The Owl Mount is a rigid 400mm 8080 aluminum T-slot column that holds Axol on a table, workbench or fixture. Its base brackets have holes for 2020, 4040 and 4545 extrusion patterns, so it fits most T-slot tables without drilling. The slots on the column stay free for cables and accessories. The Owl Mount comes with an Axol mounting plate and all the bolts you need to fix it to your table.

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Reference diagrams

• Mount drawing (PDF)
• Owl Mount product page

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Ox Cart Overview

The Ox Cart is a sturdy mobile cart with four leveling casters and a manual crank lift. Roll Axol between workstations, lock the casters, and crank it to a working height anywhere from sitting to standing. The 60 × 60 cm footprint fits through standard doors. The frame is powder-coated steel with T-slots, so you can add your own fixtures. The cart ships with its crank handle and casters.

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Reference

• Ox Cart product page

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Jelly Mobile Overview

Jelly Mobile is a powered mobile base for Axol. It has omni-wheels that drive in any direction, a telescoping lift, and a 2.4 kWh battery, so Axol can work all day without a power cable. Its universal mounting plate also fits other robots, and its 600 × 600 mm footprint fits through standard doors. During teleoperation you drive the base and the lift with the headset thumbsticks. Axol detects Jelly on its own when Jelly is connected. See Jelly in the VR interface guide.

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Reference

• Outline drawing (PDF)
• Jelly Mobile product page

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Camera Kit Overview

The Camera Kit adds wrist and head cameras. You need cameras to collect data and to run policies. The kit contains:

• 2× ZED X One S Fisheye wrist cameras (global shutter, 204° field of view) with wrist mounts.
• 1× ZED X Mini stereo head camera (global shutter) with a head mount.
• FAKRA GMSL2 cables: three 1.5 m cables and two 0.3 m right-angle cables.

The cameras plug into the GMSL2 inputs on the Compute Kit.

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Reference

• Camera Kit product page
• Wrist Mount (STEP)
• Head Mount (STEP)

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Compute Kit Overview

The Compute Kit is the NVIDIA Jetson computer that runs Axol, records the cameras and runs policies. It comes in three sizes:

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Reference

• Compute product page

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Next steps