Wiki source code of 550mm 5DoF Robotic Arm

Last modified by Eric Nantel on 2024/04/25 11:42
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Eric Nantel 36.1 1 [[image:SES-P-A-550-5DOF-01.png||width="350"]]
Eric Nantel 4.1 2
Eric Nantel 34.1 3 [[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-550mm-5dof-modular-robotic-arm-kit||rel="noopener noreferrer" target="_blank"]]
Eric Nantel 4.1 4
5 **Table of Contents**
6
7 {{toc/}}
8
Eric Nantel 11.1 9 = Description =
Eric Nantel 8.1 10
11 * Modular, customizable & reconfigurable semi-professional arm
12 * Easy to use with human readable communication protocol
13 * High accuracy and competitive payload capacity
14 * 550mm horizontal extension
15 * 2Kg payload and ±0.1 mm accuracy
16 * Gripper sold separately
17
18 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.
Eric Nantel 4.1 19
Eric Nantel 11.1 20 Incorporates five Lynxmotion Professional Smart Servo actuators
Eric Nantel 4.1 21
Eric Nantel 11.1 22 * Strain wave gearing
23 * NEMA Stepper motors
24 * Onboard electronics
25 ** Microcontroller
26 ** Motor controller
27 ** Voltage regulation
28 ** IMU (accel & gyro)
29 ** CAN communication
30 ** Absolute angular feedback
31 ** Human readable communication protocol
32 ** … more
33
Eric Nantel 4.1 34 = Specifications =
35
Eric Nantel 8.1 36 **General**
Eric Nantel 4.1 37
Eric Nantel 8.1 38 * Degrees of Freedom (DoF): 5
39 * Payload: 2Kg (no gripper)
40 * Max speed (cartesian):
41 * Collision detection: No
42 * ROS 2: Coming soon
43
44 **Mechanical**
45
Eric Nantel 11.1 46 * Horizontal reach:
47 * Vertical reach:
Eric Nantel 16.1 48 * Joint 1: ±180°
49 * Joint 2: ±180°
50 * Joint 3: ±180°
51 * Joint 4: ±180°
52 * Joint 5: ±180°
Eric Nantel 8.1 53
54 **Electrical**
55
56 * Input voltage: 30V (nominal)
57 * Max current:
58 * Wall adapter: 120V - 220V
59 * Battery power alternative: 8 cell (8S)
60 * Wiring: external
61
62 **Communication**
63
64 * Communication method: CAN Bus
65 * Communication protocol: LSS-P (human readable)
66 * Motor: NEMA 17 & 24
67 * Gearing: Strain wave (aka “Harmonic drive”)
68 * Safety: Emergency stop button & software stop
69 * Joint angle: 360 (restricted by external cables)
70
Eric Nantel 37.1 71 = Assembly & User Guides =
Eric Nantel 4.1 72
Eric Nantel 38.1 73 Coming Soon
Eric Nantel 4.1 74
Eric Nantel 7.1 75 = Dimensions =
76
Eric Nantel 32.1 77 [[image:SES-P-A-550-5DOF-Dimensions.png||alt="lynxmotion-ses-pro-550mm-5dof-modular-robotic-arm-kit-dimensions.jpg" height="400" width="400"]]
Eric Nantel 7.1 78
Eric Nantel 4.1 79 = What's Included =
80
Eric Nantel 17.1 81 * 30V Power supply
82 * Cables (USB, CAT5, Power)
83 * Mounting hardware
84
Eric Nantel 4.1 85 (% style="max-width:750px" %)
Eric Nantel 9.1 86 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome]]**
Eric Nantel 27.1 87 |(% style="text-align:center; width:125px" %)2x LSS-P-L1|(% style="text-align:center; width:125px" %)3x LSS-P-S1|(% style="text-align:center; width:125px" %) |(% style="text-align:center; width:125px" %) |(% style="text-align:center; width:125px" %) |(% style="text-align:center" %)
88 |(% style="text-align:center" %)LSS-PRO Lite Actuator|(% style="text-align:center" %)LSS-PRO Standard Actuator|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)
Eric Nantel 9.1 89 |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-L1.png]]|[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-S1.png]]| | | |
90
91 (% style="max-width:750px" %)
92 |(% colspan="6" %)**[[Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
Eric Nantel 27.1 93 |(% style="text-align:center; width:125px" %)4x HUB-24|(% style="text-align:center; width:125px" %)1x CF-70x67-118|(% style="text-align:center; width:125px" %)1x CF-70x67-143|(% style="text-align:center; width:125px" %)1x SES-P-A-B-S|(% style="text-align:center; width:125px" %) |(% style="text-align:center" %)
94 |(% style="text-align:center" %)70mm Tube Clamp|(% style="text-align:center" %)118mm Carbon Fiber Tube|(% style="text-align:center" %)143mm Carbon Fiber Tube|(% style="text-align:center" %)PRO Base for LSS-P Standard or Lite|(% style="text-align:center" %) |(% style="text-align:center" %)
Eric Nantel 13.1 95 |[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@HUB-24.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@CF-70x67-118.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@CF-70x67-143.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@HUB-25.png]]| |
Eric Nantel 20.1 96
97 = What’s Needed =
98
99 * Gripper (Lynxmotion Pro gripper suggested & Coming Soon)
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