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# SES-V1 Servo Erector Set V1.1

Last modified by Eric Nantel on 2024/07/03 11:22
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Table of Contents

- Description
- Software
- Electronics
- User Guide
  - Electronics Guides
  - Assembly Guides

# Description
Think of the Lynxmotion series of servo brackets as a modular building set for servos. These components are extremely versatile, making virtually any mechanical arrangement possible. It's now possible to build custom robots to your specifications! The aluminum brackets are available in black anodized aluminum and when there is need for plastic, the parts are in durable black Lexan. Ball bearings at each degree of freedom provide for precise, low friction movement. The tubing, hubs and hub connectors are precision fit and really expand what is possible to build. They are made in the USA from high quality aluminum alloy. Unlike LEGO Mindstorms and may other modular robotic building kits, the Lynxmotion Servo Erector Set (SES) is bordering custom robotics as it allows you to integrate third party sensors and products. How Does it Work? You can build an entire assembly using just the bracket components, then populate the assembly with servos using only two screws for the servo horn, and four 3mm screws, washers and nuts to secure the servo body to the bracket, which make for a very durable joint able to withstand heavy loads. This makes it surprisingly quick and easy to design and build rugged assemblies. Replacing or swapping a servo is effortless, as the rest of the assembly doesn't need to be taken apart. Hitec Servos and Brackets Our selection of standard brackets can use most standard size Hitec analog or digital servos. The SES V1 includes four HS-422 servos and 8x more powerful HS-645MG standard sized servos. We also include a pair of continuous rotation servos to allow you to make a small wheeled rover. Note that servos from other manufacturers are not guaranteed (nor likely) to fit the SES brackets. Should you want to add to the SES kit, the HS-3xx, 4xx, 5xx, 6xx, 54xx, 56xx, and 59xx servos are verified to fit the standard brackets, providing for a wide range of torques, speeds and prices. The large servo bracket line can use several Hitec large size normal or digital servos. The SES kit includes one HS-755HB and one HS-805BB quarter-scale servos. The HS-755MG, HS-5745MG and 805MG servos are also verified to fit. Note that servos from other manufacturers will likely not be compatible with these brackets. Although not included with the SES kit, there are also small servo brackets available for a range of micro Hitec servos. Power The kit includes one 6V, 2800mAh NiMh battery pack and corresponding universal charger. The battery tends to last around 15 minutes to 30 minutes depending on the robot and how you use it. In certain cases such as the AL5D arm and SQ3 quadruped which consume high current, you will need a 9V battery to power the logic. You will also need 4xAAA batteries for the PS2 controller (not included). A wired PS2 controller is sold separately.

# Software |
FlowBotics Studio V2 Included with the SES kit is the new FlowBotics Studio V2 (which itself includes the complete FlowStone programming language!). FlowBotics Studio is an easy to use graphical and text-based, Windows -compatible software for programming and controlling anything you build without the need to create lines of code. FlowBotics Studio interacts directly with the SSC-32 servo controller via Bluetooth (no need for the BotBoarduino), off-loading all of the higher level mathematics to the computer. There is also a visual representation of each of the five sample robots which you can manipulate on screen to make it easier to position the servos for each sequence. All the tools and tutorials are available to help you build upon these samples or create your own from scratch. Sample code is available for each of the five robots outlined below.More about FlowBotics Studio can be found here. Arduino The BotBoarduino is based on the Arduino Duemilanove microcontroller, which means it can be programmed in Arduino (one of the most popular and easy to use programming languages around)!. There is code available to control each of the five sample robots using the PS2 transmitter / receiver, and once you get used to programming in Arduino, you can explore the code further, and add to it, optimize it and share it with others. Robots which use only a small number of servos such as the BRAT, 2WD Rover and AL5D arm only need the BotBoarduino. Sample code is available in order to control each of the five robots below using the PS2 controller. Download Arduino here. |

# Electronics
| SSC-32 Servo Controller This is one of the best servo controllers available. Control up to 32 servos with up to 1uS resolution. The controller includes four analog inputs and bidirectional communication with query commands. Synchronized, or "Group" moves are easy to do, allowing you to more easily create walking gaits (there is even a 12 Servo Hexapod Gait Sequencer built in). The SSC-32 V1 uses a DB9 connector, though you can use the included Bluetooth accessories to send commands. Should you instead want to wire it to your computer and do not have a DB9 port, there is a USB to serial adapter cable sold separately.
| BotBoarduino The BotBoarduino is an Arduino Duemilanove compatible microcontroller made specifically for the Lynxmotion robots. It's perfect for controlling your small robotic projects. It has an onboard speaker, three buttons and LED's, a reset button, logic and servo power inputs, an I/O bus with 20 pins and power and ground, and a 5vdc 1.5amp regulator. The new BotBoarduino allows you not only to control servos, but store and run programs independently of a computer. The BotBoarduino can be used in conjunction with the SSC-32 servo controller for robots requiring many servos and sensors. You can also hook up the BotBoarduino to a PS2 controller for remote control of your robotic creation. More information about the BotBoarduino can be found here.
| Bluetooth The DFRobot Bluetooth Bee wireless module adapts XBEE design. Its compact size and pinout is compatible with XBEE modules which makes it suitable for all kinds of microcontroller systems. Default pairing code is 1234. A USB Bluetooth module is included. The USB to serial (DB9) adapter allows you to connect the module to the SSC-32 (don't forget to wire power!).
| Lynxmotion PS2 Controller This 2.4ghz wireless Play Station 2 style controller has a range of 10 meters when used outdoors. The controller can be connected directly to the BotBoarduino, Two analog joysticks and 16 buttons available for robot control. Dual vibration motors provide tactile feedback for robots programmed with obstacle sensors (Version 2). We are also including a USB to PS2 receiver so the PS2 remote can communicate with the computer, allowing you to control the robots virtually.

AL5D Robotic Arm The AL5D robotic arm delivers fast, accurate, and repeatable movement. The robot features: base rotation, single plane shoulder, elbow, wrist motion, a functional gripper, and optional wrist rotate. The AL5D robotic arm is an affordable system with a time tested rock solid design that will last and last. Everything needed to assemble and operate the robot is included in the kit and accessories such as a rotating wrist or vacuum gripper are sold separately. The assembly guide, specifications and more for the AL5D can be found here. |  |
SQ3 Symmetric Quadruped Robot The SQ3 is a 3DoF per leg quadruped robot with a symmetric body design. The robot's symmetry makes this a very unique quadruped walker. The three DOF (degree of freedom) leg design provides the flexibility required to walk in any direction as well as body roll! The robot uses eight HS-645MG servos along with four HS-422 servos. The SES kit includes everything you need to make a functional robot. The assembly guide, specifications and more for the SQ3 can be found here. |  |
MH2 Hexapod Robot The MH2 hexapod robot is designed around a simple mechanical leg design with all metal brackets. This leg design minimizes the number of parts required to make a two DOF (degree of freedom) leg and allows this robot to be steered like a tank. Forward, reverse and in place turning is supported. The robot uses standard sized Hitec servos for the legs. The combo kit includes everything you need to make a functional robot. More information about the MH2 can be found here. |  |
2WD1 Rover The Lynxmotion Aluminum 2WD Servo Robot Kit is a robust, modifiable, and expandable chassis for your RC or autonomous robot experimentation. By utilizing plastic wheels with rubber rim, robot has excellent traction. Using our small 6V NiMH battery pack and the BotBoarduino means there is plenty of room for additional sensors and electronics. Add the IR distance sensor to the front of rear of the robot to perform basic obstacle detection. More information about the 2WD Rover can be found here. |  |
BRAT Walking Robot BRAT stands for Bipedal Robotic Articulating Transport. The robot is a 6 servo biped walker featuring three degrees of freedom (DOF) per leg. The robot can walk forward or backwards and turn in place left or right with variable speed. It can even do lots of Robo-One style acrobatic moves. Our combo kits include everything needed to make an operational robot. The electronics are mounted as a "backpack". Once you understand the principles, you can modify the legs to include additional degrees of freedom (such as hip rotation) or more complex motion. Complete details about the BRAT, including assembly instructions, can be found here. |  |

# User Guide

## Electronics Guides
| BotBoarduino User Guide The BotBoarduino is intended to be used only if you plan to create code in Arduino / if you want the robot to be fully autonomous. The BotBoarduino is compatible with a variety of third party "shields".
| SSC-32 User Guide The v1.1 includes the SSC-32 is an easy to use dedicated 32 servo controller. It can be connected to a computer via the DB9 connector or to the Serial to XBee breakout board. The SSC-32 can also be connected to another microcontroller via the Tx and Rx pins. The SSC-32 is not "programmable" as such - you simply send it position commands. The V1.1 does not include this part.
| SSC-32U User Guide The newer S.E.S V1.2 includes the SSC-32U, which is an updated USB version of the dedicated SSC-32 servo controller. It can be connected to a computer via USB or Bluetooth Bee module. The SSC-32 can also be connected to another microcontroller via the Tx and Rx pins. The SSC-32 is not "programmable" as such - you simply send it position commands. The V1.1 does not include this part.
| DFRobot Bluetooth Module User Guide (PDF) The DFRobot Bluetooth module operates at 9600 baud (so be sure to change the jumpers on the SSC-32) and the default pairing code is 1234. The module uses the standard XBee format. Once the module has paired with the computer, the green LED located in the lower right side of the board will light up and stay solid.
| Bluetooth Bee (CSR BC417143) The Bluetooth Bee is a complete Bluetooth 2.0 module (complete with onboard antenna) whose pinout is compatible with that of an XBEE module. This module is intended to be used with the SSC-32U servo controller for wireless servo control Bluetooth Bee manual.pdf TEL0026_Datasheet.pdf
## Assembly Guides
| A2WD1 (2WD) Rover The rover assembly guide shows how to assemble the robot using just the SSC-32 controller (for FlowBotics Studio) or using the BotBoarduino (Arduino). We suggest building and programming this robot first. A2WD1 SES Rover Assembly Guide v1.1
| AL5D Robotic Arm The AL5D arm can be assembled using either the BotBoarduino or the SSC-32 controller. We suggest building this robot second. Note that you will need to disassemble the 2WD rover to assemble the arm. Arm Base Assembly Guide v2.1 AL5D Arm Assembly Instructions Rev. 2.1
| BRAT Biped Robot The BRAT can be assembled using either the SSC-32 controller or the BotBoarduino. The BRAT uses only three servos per leg which allows for basic motion. If you are comfortable with either the Arduino code or the FlowBotics Studio code, you can try to add an additional degree of freedom to each leg. Please refer to the Arduino sample code to know which pins are connected to which servos. BRAT Biped Assembly Guide
| MH2 Hexapod Robot The MH2 robot assembly differs slightly from the guide shown because the SES V1.1 includes 4x HS-422 servos and 8x HS-645MG servos, therefore you will need to replace two HS-422 servos with 2x HS-645MG servos. Simple 2DoF Leg Assembly Instructions Mini Inline Hexapod Body Assembly Instructions Rev. 1.2
| SQ3 Quadruped Robot The SQ3 quadruped is the most complex robot which can be built with the kit and is for users who feel comfortable with the electronics and software. 3DoF Leg Assembly Instructions v2.0 Quadruped QBK-02 Symmetric Robot Kit Assembly Instructions Rev. 1

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Created by Eric Nantel on 2024/07/03 11:22

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