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# SES-P 550mm 5DoF Robotic Arm

Last modified by Eric Nantel on 2025/05/26 07:33
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Table of Contents

- Description
- Specifications
- Media
- User Guides
- ROS2
- CAD Files
- Dimensions
- What's Included
- What’s Needed / Suggested

# Description

- Modular, customizable & reconfigurable semi-professional arm
- Easy to use with human readable communication protocol
- High accuracy and competitive payload capacity
- 550mm horizontal extension
- 2Kg payload and ±0.1 mm accuracy
- Gripper sold separately

The Lynxmotion SES-PRO 550mm 5Dof Modular Robotic Arm Kit offers a payload of 2Kg at full extension with an accuracy of ±0.1 mm. Unlike purpose-built arms, this is designed to be modular and reconfigurable to suit the user’s application. Additional degrees of freedom can be added, and existing degrees of freedom can be reconfigured or removed. The design ensures there are no evident pinch points.

Incorporates five Lynxmotion Professional Smart Servo actuators

- Strain wave gearing
- NEMA Stepper motors
- Onboard electronics
  - Microcontroller
  - Motor controller
  - Voltage regulation
  - IMU (accel & gyro)
  - CAN communication
  - Absolute angular feedback
  - Human readable communication protocol
  - … more

# Specifications

General

- Degrees of Freedom (DoF): 5
- Payload: 2Kg (no gripper)
- Collision detection: No
- Horizontal reach: 550mm (no gripper)
- Vertical reach: 630mm

Mechanical

- Motors: NEMA 23 & 17
- Gearing: 100:1 Strain wave (aka “Harmonic drive”)

Location | Type | Torque |
Joint 1 / Base | LSS-P-S1 | Up to 80Nm | ±180°
Joint 2 / Shoulder | LSS-P-S1 | Up to 80Nm | ±180°
Joint 3 / Elbow | LSS-P-S1 | Up to 80Nm | ±180°
Joint 4 / Wrist Roll (fixed) | LSS-P-TC | - | -
Joint 5 / Wrist Pitch | LSS-P-L1 | Up to 18Nm | ±180°
Joint 6 / Wrist Yaw | LSS-P-L1 | Up to 18Nm | ±180°

Electrical

- Power Supply: 120V - 220V AC to 36V DC
- Emergency Stop Button & Protection Fues
- Type B (USA) Plug (Standard Power Cable)
- Battery power alternative: 8 cell (8S) or 9 cell (9S)
- Wiring: external

Communication

- Communication method between servos: CAN Bus (custom)
- Communication method to first servo: USB (USB 3 suggested)
- Communication protocol: LSS-P (human readable)

# Media

# User Guides

SES-PRO 550mm 5 DoF Robotic Arm KIT Assembly Steps:

- 550mm 5DoF Base to Joint 1
- 550mm 5DoF Joint 2 to 3
- 550mm 5DoF Joint 4 to 5
- 550mm 5DoF Joint 5 to 6
- 550mm 5DoF Covers
- 550mm 5DoF Cable Holders
- 550mm 5DoF Grippers
  - DH Robotics PGE-50-40 Gripper
  - DH Robotics PGE-50-40 Fingers
  - DH Robotics CGE-10-10 Gripper
  - DH Robotics CGE-10-10 Fingers
- 550mm 5DoF Wiring

SES-PRO 550mm 5 DoF Robotic Arm Setup & Software:

- 550mm 5DoF Initial Setup
- 550mm 5DoF Zero Calibration
- 550mm 5DoF Software

# ROS2

- SES-P-ROS2-Arms
- LSS-P-ROS2-Hardware

# CAD Files

- Simple Geometry
  - SES-P-A-550-5DOF-SG.zip
- Complete public version
  - SES-P-A-550-5DOF-Public.zip
- Drilling template for the mounting holes
  - SES-P-A-B-S - Drill Template v1.0.pdf

# Dimensions

# What's Included

PICTURE | NAME / DESCRIPTION | Qty | Lynxmotion SKU | RobotShop SKU
--- | --- | --- | --- | ---
| Lynxmotion Smart Servo PRO Lite Modular Strain Wave Gear Actuator (LSS-P-L1) | 2 | LSS-P-L1 | RB-Lyn-1158
| Lynxmotion Smart Servo PRO Standard Modular Strain Wave Gear Actuator (LSS-P-S1) | 3 | LSS-P-S1 | RB-Lyn-1159
| Lynxmotion SES-PRO Standard Modular T-Frame Coupler | 1 | SES-P-S1-TC-KT | RB-Lyn-1178
| Lynxmotion SES-PRO Arm Base Adaptation Plate | 1 | SES-P-A-BAP-KT | RB-Lyn-1180
| Lynxmotion SES-PRO Base For Lite Or Standard LSS-P Actuators | 1 | SES-P-A-B-S-KT | RB-Lyn-1170
| Lynxmotion SES-PRO Aluminum Clamp For 70mm CF Tubes | 4 | SES-P-A-C-70-KT | RB-Lyn-1169
| Lynxmotion SES-PRO 118mm x 70mm Carbon Fiber Tube | 1 | CF-70x67-118-KT | RB-Lyn-1165
| Lynxmotion SES-PRO 143mm x 70mm Carbon Fiber Tube | 1 | CF-70x67-143-KT | RB-Lyn-1166
| Lynxmotion SES-PRO LSS-P-L1 Output Shaft Cover Kit | 2 | SES-P-L1-SC-KT | RB-Lyn-1189 (ask for price & availability)
| Lynxmotion SES-PRO LSS-P-S1 Output Shaft Cover Kit | 2 | SES-P-S1-SC-KT | RB-Lyn-1190 (ask for price & availability)
| Lynxmotion SES-PRO 123mm Normal Tube Sleeve w/ Lynxmotion Logo | 1 | SES-P-A-S-123-NOR | RB-2ne-11 (ask for price & availability)
| Lynxmotion SES-PRO 148mm Normal Tube Sleeve w/ Lynxmotion Logo | 1 | SES-P-A-S-148-NOR | RB-2ne-12 (ask for price & availability)
| Lynxmotion SES-PRO 25mm Normal Tube Sleeve wo/ Lynxmotion Logo | 4 | SES-P-A-S-26-NOR | RB-2ne-06 (ask for price & availability)
| Lynxmotion SES-PRO 100-240VAC to 36VDC 30A Power Supply w/ Emergency Stop | 1 | 36V-1500W-Custom | RB-Hap-13 (ask for price & availability)
| Lynxmotion Smart Servo PRO RJ45 CAN Communication Cable (65cm) | 2 | LSS-P-ETH-650 | RB-2se-03 (ask for price & availability)
| Lynxmotion Smart Servo PRO XT60 Female to Female Extension (65cm) | 2 | LSS-P-XT60-650 | RB-Hap-22 (ask for price & availability)

NAME / DESCRIPTION

# What’s Needed / Suggested

PICTURE | NAME / DESCRIPTION | Lynxmotion SKU | RobotShop SKU
| Lynxmotion SES-PRO DH Robotics PGE-50-40 Two Fingers Gripper Kit | SES-P-DHR-PGE-50-40-KT | RB-Lyn-1179
| Lynxmotion SES-PRO DH Robotics CGE-10-10 Three Fingers Gripper Kit | SES-P-DHR-CGE-10-10-KT | RB-Lyn-1177

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Created by Eric Nantel on 2024/04/19 14:02
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