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# SES-V2 - mechDOG Quadruped

Last modified by Eric Nantel on 2024/07/03 09:38
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Table of Contents

- Description
- Features
- Specifications
- User Guide
- Actuators
- Dimensions
- What's Included

# Description

Lynxmotion's mechDOG was created as a collaboration with Mech-Dickel Robotics (YouTube Channel) to create a four-legged (quadruped / quadrapod) robot with similar degrees of freedom to a mammal. ST1 modular servos are used throughout, along with a variety of Lynxmotion Servo Erector Set (SES) V2 brackets. The body plates are made of composite G10 and the body side panels are anodized aluminum. The LSS Adapter acts to split battery power to each leg, and can be used with either an Arduino shield-compatible microcontroller or single board computer (SBC) like the Raspberry Pi. The internal compartment can be quickly accessed using thumbscrews at the top. There are mounting points at the top for accessories like YDLidar's 360 degree laser scanner or other SES V2 brackets. The size of the robot and built-in functionality of the smart servos make it ideally suited as an inexpensive development platform onto which a variety of sensors can be mounted and used for autonomous behaviors, navigation and more.

Official Community Forum:

- Lynxmotion SES V2 mechDOG Quadrapod Robot

# Features

- 12x fully configurable modular smart servo motors
- Built-in safety features (over current, temperature, voltage)
- Modular aluminum brackets
- Compatible with Lynxmotion Servo Erector Set electronics
- Easy to understand and human readable LSS communication protocol
- Mounting for IR and ultrasonic sensors is included.

# Specifications

- 3 Degrees of Freedom (DoF) per leg: hip; shoulder; knee
- Body / chassis length: 191.10mm / 11.461"
- Body / chassis height: 53.80mm / 2.118"
- Suggested standing height (to top of chassis): ~ 130mm / 5.125"
- Suggested battery: 11.1V (3S) LiPo capable of at least 5A continuous discharge
- Mounting plates for: LSS, SES, Sharp, PING
- Weight: ~ 1.65kg / 3.64lbs

# User Guide

| mechDOG KIT steps: 01 - Servo Setup 02 - Right Rear Leg 03 - Right Front Leg 04 - Left Rear Leg 05 - Left Front Leg 06 - Frame 07 - Electronics 01 - LSS-2IO 02 - BotBoarduino 03 - Arduino UNO 04 - Raspberry Pi (Coming Soon) 08 - Wiring 09 - Power 10 - Calibration 11 - Setup 01 - IK Gait 02 - Simple Gait mechDOG Optional Electronics: 12 - Optional Electronics mechDOG Custom Parts 13 - Parts

# Actuators

Location | Type | Static Torque | Max Speed
All | ST1 | 14Kg-cm | 360° /s
Note that when operated at lower voltages, torque and speed are reduced.

# Dimensions

# What's Included

Smart Servos (LSS) | Modules | Wiring | Gearing & Horns |
12x LSS-ST1 | 1x LSS-ADA | 4x CC-01 | 4x LSS-C-150Y | 8x LSS-IH |
LSS Standard | LSS Adapter | Cable Clip | 150mm Y Cable | Idler Horn |
Brackets (SES)
4x ASB-28 | 4x ASB-30 | 4x ASB-33 | 4x ASB-37 | 8x ASB-39 | 6x GPAB-01
LSS Single | LSS Double | LSS Gearbox | Angle C Bracket | Short C Bracket | Side Bracket
Screws | Nuts
252x PHS-02 | 2x PHS-09 | 12x PHS-16 | 8x PHS-20 | 8x TB-S-01 | 6x SN-02
2-56 x 1/4" | 2-56 x 3/8" | M3 x 10mm | M3 x 8mm | M3 Thumb Screw | 2-56 Nut
Tubing & Hubs | Standoffs | Miscellaneous |  |
4x HUB-22 | 4x AHS-17-BA | 1x VCS-09 | 1x ID-1-50 |  |
|  |  | ID Sticker 1 to 50 |  |
mechDOG Custom Parts
4x mechDOG-F-01 | 4x mechDOG-F-02 | 6x mechDOG-F-03 | 2x mechDOG-F-04 | 2x mechDOG-F-05 | 2x mechDOG-F-06
U Shape Frame | Frame Brace | Blank Plate | SES Plate | LSS Plate | PING Plate
2x mechDOG-F-07 | mechDOG-F-T | mechDOG-F-B | mechDOG-J-A | mechDOG-J-B | mechDOG-J-C
Sharp Plate | Frame Top | Frame Bottom | Jig part A | Jig part B | Jig part C
4x mechDOG-Foot | 4x mechDOG-Sock |  |  |  |
Foot | TPU Sock |  |  |  |

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Created by Eric Nantel on 2024/07/03 09:38
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