Wiki source code of 550mm 6DoF Robotic Arm

Last modified by Eric Nantel on 2024/04/04 07:28
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Eric Nantel 22.1 1 [[image:SES-P-A-550-6DOF-01.png||width="350"]]
Eric Nantel 3.1 2
Eric Nantel 21.1 3 [[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-550mm-6dof-modular-robotic-arm-kit||rel="noopener noreferrer" target="_blank"]]
Eric Nantel 3.1 4
5 **Table of Contents**
6
7 {{toc/}}
8
9 = Description =
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
Eric Nantel 5.1 18 The **Lynxmotion SES-PRO 550mm 6Dof 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 3.1 19
20 Incorporates five Lynxmotion Professional Smart Servo actuators
21
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
34 = Specifications =
35
36 **General**
37
Eric Nantel 5.1 38 * Degrees of Freedom (DoF): 6
Eric Nantel 3.1 39 * Payload: 2Kg (no gripper)
Eric Nantel 5.1 40 * Max speed (cartesian): Coming soon
Eric Nantel 3.1 41 * Collision detection: No
42 * ROS 2: Coming soon
43
44 **Mechanical**
45
Eric Nantel 5.1 46 * Horizontal reach: 900mm
47 * Vertical reach:
48 * Tubing material: carbon fiber
49 * Joint material: machined aluminum
Eric Nantel 3.1 50
51 **Electrical**
52
53 * Input voltage: 30V (nominal)
Eric Nantel 5.1 54 * Max current: Coming soon
Eric Nantel 3.1 55 * Wall adapter: 120V - 220V
56 * Battery power alternative: 8 cell (8S)
57 * Wiring: external
58
59 **Communication**
60
61 * Communication method: CAN Bus
62 * Communication protocol: LSS-P (human readable)
Eric Nantel 5.1 63 * Motors: NEMA 17 & 14
Eric Nantel 3.1 64 * Gearing: Strain wave (aka “Harmonic drive”)
65 * Safety: Emergency stop button & software stop
Eric Nantel 5.1 66
Eric Nantel 3.1 67
68 = Quickstart Guide / Assembly =
69
70 Coming Soon
71
72 = Dimensions =
73
Eric Nantel 19.1 74 [[image:SES-P-A-550-6DOF-Dimensions.png||alt="lynxmotion-ses-pro-550mm-6dof-modular-robotic-arm-kit-dimensions.jpg" height="400" width="400"]]
Eric Nantel 3.1 75
76 = What's Included =
77
Eric Nantel 5.1 78 * 30V Power supply
79 * Cables (USB, CAT5, Power)
80 * Mounting hardware
81
Eric Nantel 3.1 82 (% style="max-width:750px" %)
83 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome]]**
Eric Nantel 5.1 84 |(% style="text-align:center; width:125px" %)3x 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" %)
Eric Nantel 14.1 85 |(% 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 3.1 86 |[[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]]| | | |
87
88 (% style="max-width:750px" %)
89 |(% colspan="6" %)**[[Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
Eric Nantel 5.1 90 |(% 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" %)
91 |(% 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 3.1 92 |[[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 6.1 93
94 = What’s Needed =
95
96 * Gripper (Lynxmotion Pro gripper suggested & Coming Soon)
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