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# SES-P 900mm 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
- 900mm horizontal extension
- 3Kg payload and ±0.1 mm accuracy
- Gripper sold separately

The Lynxmotion SES-PRO 900mm 5Dof Modular Robotic Arm offers a payload of 3Kg 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

- Horizontral Reach: 900mm
- Vertical Reach: 1007mm
- Degrees of Freedom (DoF): 5
- Payload: 3Kg (no gripper)
- Collision detection: No

Mechanical

- Motors: Stepper (NEMA 34, 23, 17)
- Gearing: 100:1 Steel strain wave (aka "Harmonic Drive")

Location | Type | Torque |
Joint 1 / Base | LSS-P-M1 | Up to 220Nm | ±180°
Joint 2 / Shoulder | LSS-P-M1 | Up to 220Nm | ±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: 110V to 220V AC to 36V DC
- Emergency Stop Button & Protection Fuse
- 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 900mm 5 DoF Robotic Arm KIT Assembly Steps:

- 900mm 5DoF Base to Joint 1
- 900mm 5DoF Joint 2 to 3
- 900mm 5DoF Joint 4 to 5
- 900mm 5DoF Joint 5 to 6
- 900mm 5DoF Covers
- 900mm 5DoF Cable Holders
- 900mm 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
- 900mm 5DoF Wiring

SES-PRO 900mm 5 DoF Robotic Arm Setup & Software:

- 900mm 5DoF Initial Setup
- 900mm 5DoF Zero Calibration
- 900mm 5DoF Software

# ROS2

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

# CAD Files

- Simple Geometry
  - SES-P-A-900-5DOF-SG.zip
- Complete public version
  - SES-P-A-900-5DOF-Public.zip
- Drilling template for the mounting holes
  - SES-P-A-B-L - 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) | 1 | LSS-P-S1 | RB-Lyn-1159
| Lynxmotion Smart Servo PRO Mega Modular Strain Wave Gear Actuator (LSS-P-M1) | 2 | LSS-P-M1 | RB-Lyn-1160
| 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 Mega LSS-P Actuators | 1 | SES-P-A-B-L-KT | RB-Lyn-1171
| Lynxmotion SES-PRO Aluminum Clamp For 70mm CF Tubes | 4 | SES-P-A-C-70-KT | RB-Lyn-1169
| Lynxmotion SES-PRO 280.5mm x 70mm Carbon Fiber Tube | 1 | CF-70x67-280.5-KT | RB-Lyn-1167
| Lynxmotion SES-PRO 305.5mm x 70mm Carbon Fiber Tube | 1 | CF-70x67-305.5-KT | RB-Lyn-1168
| 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 | 1 | SES-P-S1-SC-KT | RB-Lyn-1190 (ask for price & availability)
| Lynxmotion SES-PRO LSS-P-M1 Output Shaft Cover Kit | 1 | SES-P-M1-SC-KT | RB-Lyn-1191 (ask for price & availability)
| Lynxmotion SES-PRO 285.5mm Normal Tube Sleeve w/ Lynxmotion Logo | 1 | SES-P-A-S-123-NOR | RB-2ne-11 (ask for price & availability)
| Lynxmotion SES-PRO 310.5mm 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 34mm Normal Tube Sleeve w/ Lynxmotion Logo | 1 | SES-P-A-S-34-NOR | RB-2ne-09 (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) | 1 | LSS-P-ETH-650 | RB-2se-03 (ask for price & availability)
| Lynxmotion Smart Servo PRO XT60 Female to Female Extension (65cm) | 1 | 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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