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1		-[[image:SESV2-LSS-ARTICULATED-ARM.png||width="350"]]
	1	+[[image:LSS-P-A-Sample.png||alt="SESV2-LSS-ARTICULATED-ARM.png" width="350"]]
2	2
3		-[[[[image:lynxmotion-wiki-attachments.WebHome@BuyOnline.jpg||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-smart-servos-articulated-arm.html||rel="noopener noreferrer" target="_blank"]]
	3	+[[[[image:lynxmotion-wiki-attachments.WebHome@ComingSoon.jpg||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-smart-servos-articulated-arm.html||rel="noopener noreferrer" target="_blank"]]
4	4
5	5	**Table of Contents**
6	6
7	7	{{toc/}}
8	8
9		-= Description =
	9	+(% class="wikigeneratedid" %)
	10	+= Features =
10	10
11		-Lynxmotion’s 6th generation articulated robotic arm is intended as a hobby / scale version of an industrial robotic arm and is designed around the fully configurable Lynxmotion Smart Servo motors and Lynxmotion Servo Erector Set (SES v2) modular construction system.
	12	+* Modular, customizable & reconfigurable semi-professional arm
	13	+* Easy to use with human readable communication protocol
	14	+* High accuracy and competitive payload capacity
	15	+* 550mm horizontal extension
	16	+* 2Kg payload and ±0.1 mm accuracy
	17	+* Gripper sold separately
	18	+
12	12
13		-(% style="width:600px" %)
14		-|(% style="text-align:center; width:300px" %)**With Shells**|(% style="text-align:center; width:300px" %)**Without Shells**
15		-|(% colspan="2" style="width:350px" %){{lightbox image="SESV2-LSS-ARTICULATED-ARM-FaceToFace.png"/}}
	20	+= Description =
16	16
17		-This versatile setup facilitates customization and expansion for applications through the use of additional brackets, electronics, sensors and more, and adding additional degrees of freedom or changing the gripper is straightforward.
	22	+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.
18	18
19		-Although well suited for use on a desk for development and experimentation, the arm can be easily fitted on a mobile robot and powered using a 3S (11.1V) LiPo battery (sold separately) with XT60 connector. The included LSS Adapter electronics board makes connecting to an Arduino shield compatible board, Raspberry Pi, XBee or other serial device easy.
20	20
21		-{{lightbox image="SESV2-LSS-ARTICULATED-ARM-A4WD.png" title="LSS Articulated Arm on A4WD Platform" width="400"/}}
	25	+= Specifications =
22	22
23		-CAD design files, as well as examples using Arduino and Python are available so that students and hobbyists can integrate the arm into their projects. The graphical user interface LSS FlowArm, created using FlowBotics Studio, makes recording and playing back sequences effortless.
	27	+**General**
24	24
25		-{{lightbox image="SESV2-LSS-ARTICULATED-ARM-FlowArm.jpg" title="LSS FlowArm Software" width="400"/}}
	29	+* Degrees of Freedom (DoF): 5
	30	+* Payload: 2Kg (no gripper)
	31	+* Max speed (cartesian):
	32	+* Collision detection: No
	33	+* ROS 2: Coming soon
26	26
27		-Wiki page for [[doc:ses-software.lss-flowarm.WebHome]]
	35	+**Mechanical**
28	28
29		-The Lynxmotion smart servo motors were designed and optimized for articulated robotic joints and ease of use. The custom LSS communication protocol is human readable, uses full duplex (dedicated Tx and Rx lines) and selectable baud rates. Optimize the motion by changing the properties of each servo; anything from setting a maximum speed or angular range to the angular acceleration, holding stiffness and more. Each servo can be queried for a wide variety of real-time values or configured settings, including sensor feedback from the absolute encoder (position, speed and more), current, voltage and temperature.
	37	+* Horizontal reach:
	38	+* Vertical reach:
	39	+* Joint 1: ±360°
	40	+* Joint 2: ±360°
	41	+* Joint 3: ±360°
	42	+* Joint 4: ±360°
	43	+* Joint 5: ±360°
	44	+* Joint 6: ±360°
30	30
31		-= Features =
	46	+**Electrical**
32	32
33		-* 5x fully configurable modular smart servo motors
34		-* Modular aluminum brackets, carbon fiber tubing and more
35		-* V-style gripper opens from 0 to 180 degrees
36		-* Compatible with Lynxmotion Servo Erector Set electronics
37		-* Create sequences using handheld teach mode, coordinates, virtual arm
38		-* Built-in safety features (over current, temperature, voltage)
39		-* Easy to understand and human readable LSS communication protocol
	48	+* Input voltage: 30V (nominal)
	49	+* Max current:
	50	+* Wall adapter: 120V - 220V
	51	+* Battery power alternative: 8 cell (8S)
	52	+* Wiring: external
40	40
41		-= Specifications =
	54	+**Communication**
42	42
43		-* Axes: 4 degrees of freedom + 1 (gripper)
44		-* Max Horizontal Reach: 15.910" / 404.12mm
45		-* Max Vertical Reach: 19.899" / 505.44mm
46		-* Payload: 100g (max reach)*
47		-* Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
48		-* Power Supply Out: 12V, 6A DC with XT60 connector
49		-* Weight: 1.43 pounds / 0.650 Kg
	56	+* Communication method: CAN Bus
	57	+* Communication protocol: LSS-P (human readable)
	58	+* Motor: NEMA 17 & 24
	59	+* Gearing: Strain wave (aka “Harmonic drive”)
	60	+* Safety: Emergency stop button & software stop
	61	+* Joint angle: 360 (restricted by external cables)
50	50
51		-~* Note that if holding 100g at full reach, the shoulder and elbow servos will heat up rapidly. Payload increases closer to the base.
52		-
53	53	= Quickstart Guide / Assembly =
54	54
55		-{{include reference="ses-v2-arms.lss-4dof-arm.4dof-arm-quickstart.WebHome" context="NEW"/}}
	65	+Coming Soon
56	56
57		-= Actuators =
58		-
59		-(% style="width:350px" %)
60		-|**Location**|**Type**|**Static Torque**|**Max Speed**
61		-|Base|ST1|14Kg-cm|360° /s
62		-|Shoulder|HT1|29Kg-cm|360° /s
63		-|Elbow|HT1|29Kg-cm|360° /s
64		-|Wrist|ST1|14Kg-cm|360° /s
65		-|Gripper|ST1|14Kg-cm|360° /s
66		-|(% colspan="4" %)(((
67		-**Note that when operated at lower voltages, torque and speed are reduced.**
68		-)))
69		-
70	70	= Dimensions =
71	71
72		-{{lightbox image="SESV2-LSS-ARTICULATED-ARM-Enveloppe-Rev2.png" width="400"/}}
	69	+Coming Soon
73	73
74	74	= What's Included =
75	75
76	76	(% style="max-width:750px" %)
77	77	|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
78		-|3x LSS-ST1|2x LSS-HT1| | | |
79		-|LSS Standard|LSS High-Torque| | | |
	75	+|(% style="width:125px" %)2x LSS-P-L1|(% style="width:125px" %)3x LSS-P-S1|(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |
	76	+|LSS-PRO Lite|LSS-PRO Standard| | | |
80	80	|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-HORNS.PNG||alt="LSS-ST1.png"]]|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-HT1-HORNS.PNG||alt="LSS-HT1.png"]]| | | |
81		-|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
82		-|1x LSS-ADA|2x LSS-C-300-S|12x CC-01|2x AHS-EC|1x 12V-XT60|1x USBC-02
83		-|LSS Adapter|300mm Cable|Cable Clip|Electronic Clip|12V w/ XT60|USB to Mini B
84		-|[[image:servo-erector-set-system.ses-electronics.ses-modules.lss-adapter-board.WebHome@LSS-ADA.png]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@LSS-C-100.png]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@CC-01.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@AHS-EC.PNG]]|[[image:servo-erector-set-system.ses-electronics.ses-wall-adapters.WebHome@BX-12006000-XT60.PNG]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@USBC-02.PNG]]
85		-|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
86		-|3x ASB-28|3x ASB-39|1x ASB-30|2x ASB-35|2x ASB-36|1x ASB-42
87		-|LSS Single Wide|Short C V2|LSS Double Wide|Gripper Main|Gripper Secondary|Gripper Foam
88		-|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-28.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-39.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-30.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-35.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-36.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-42.png]]
89		-|(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]**
90		-|2x SES-32T| | | | |
91		-|32T Gear for Horn| | | | |
92		-|[[image:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome@SES-32T.png]]| | | | |
93		-|(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
94		-|4x HUB-22|2x CF-16x14-75| | | |
95		-|16mm SES Clamp|75mm Carbon Tube| | | |
96		-|[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@HUB-22.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@CF-16x14-75.png]]| | | |
97		-|(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
98		-|58x PHS-02|19x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03
99		-|2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm
100		-|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-02.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-16.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@FHS-01.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@BB-05.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@DP-01.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@BB-03.png]]
101		-|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**
102		-|5x AHS-19|4x AHS-20| | | |
103		-|M3 x 40mm|M3 x 18mm| | | |
104		-|[[image:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome@AHS-19.png||alt="PHS-02.png"]]|[[image:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome@AHS-20.png||alt="PHS-16.png"]]| | | |
105		-|(% colspan="6" %)**[[Miscellaneous>>path:/info/wiki/lynxmotion/view/servo-erector-set-system/ses-mechanics/ses-miscellaneous/]]**
106		-|WBSF-2|WBTL-1| | | |
107		-|Silicon Grease|Thread Lock| | | |
108		-|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@WBSF-2.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@WBTL-1.PNG||alt="PHS-02.png"]]| | | |
109		-|(% colspan="6" style="width:125px" %)**[[doc:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome]]**
110		-|(% style="width:125px" %)1x - LSS-BR-T|(% style="width:125px" %)1x - LSS-BR-M1|(% style="width:125px" %)1x - LSS-BR-M2|(% style="width:125px" %)1x - LSS-BR-B|(% style="width:125px" %) |(% style="width:125px" %)
111		-|(% style="width:125px" %)Top Plate|(% style="width:125px" %)Middle Plate 1|(% style="width:125px" %)Middle Plate 2 |(% style="width:125px" %)Bottom Plate|(% style="width:125px" %) |(% style="width:125px" %)
112		-|[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Top.PNG]]|[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Middle-01.PNG]]|[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Middle-02.PNG]]|[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Bottom.PNG]]| |

LSS-P-A-Sample.png

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