Wiki source code of SES-P 550mm 5DoF Robotic Arm

Version 66.1 by Eric Nantel on 2024/07/17 10:57
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Eric Nantel 61.1 1 {{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/ses-pro-arms/ses-pro-550-5-dof-arm/WebHome/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 44.1 71 = User Guides =
Eric Nantel 4.1 72
Eric Nantel 43.1 73 {{include context="NEW" reference="ses-pro.ses-pro-arms.ses-pro-550-5-dof-arm.ses-pro-550-5-dof-arm-guides.WebHome"/}}
Eric Nantel 4.1 74
Eric Nantel 60.1 75 = CAD Files =
76
Eric Nantel 63.1 77 * Simple Geometry
Eric Nantel 66.1 78 ** [[attach:SES-P-A-550-5DOF-SG.zip]]
79 * Complete public version
80 ** [[attach:SES-P-A-550-5DOF-Public.zip]]
Eric Nantel 62.1 81 * Drilling template for the mounting holes
82 ** [[attach:ses-pro.ses-pro-parts.ses-p-a-b-s-kt.WebHome@SES-P-A-B-S - Drill Template v1.0.pdf]]
83
Eric Nantel 7.1 84 = Dimensions =
85
Eric Nantel 32.1 86 [[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 87
Eric Nantel 4.1 88 = What's Included =
89
Eric Nantel 64.1 90 |=(% style="width: 125px;" %) PICTURE|= NAME / DESCRIPTION|=(% style="width: 55px; text-align: center;" %)Qty|=(% style="width: 150px;" %)Lynxmotion SKU|=(% style="width: 150px;" %)RobotShop SKU
Eric Nantel 58.1 91 |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-L1.png]]|(((
92 Lynxmotion Smart Servo PRO Lite Modular Strain Wave Gear Actuator (LSS-P-L1)
93 )))|(% style="text-align:center" %)2|[[LSS-P-L1>>doc:ses-pro.lss-pro.WebHome]]|(((
Eric Nantel 53.1 94 [[RB-Lyn-1158>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-lite-modular-strain-wave-gear-actuator-lss-p-l1]]
Eric Nantel 46.4 95 )))
Eric Nantel 58.1 96 |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-S1.png]]|(((
97 Lynxmotion Smart Servo PRO Standard Modular Strain Wave Gear Actuator (LSS-P-S1)
98
Eric Nantel 64.1 99
Eric Nantel 58.1 100 )))|(% style="text-align:center" %)3|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|(((
Eric Nantel 53.1 101 [[RB-Lyn-1159>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-strain-wave-gear-actuator-lss-p-s1]]
Eric Nantel 46.4 102 )))
Eric Nantel 56.1 103 |[[image:[email protected]]]|(((
Eric Nantel 46.4 104 Lynxmotion SES-PRO Standard Modular T-Frame Coupler
Eric Nantel 58.1 105
Eric Nantel 64.1 106
Eric Nantel 57.1 107 )))|(% style="text-align:center" %)1|[[SES-P-S1-TC-KT>>doc:ses-pro.ses-pro-parts.ses-p-s1-tc-kt.WebHome]]|(((
Eric Nantel 53.1 108 [[RB-Lyn-1178>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-t-frame-coupler]]
Eric Nantel 46.4 109 )))
Eric Nantel 56.1 110 |[[image:[email protected]]]|(((
Eric Nantel 46.4 111 Lynxmotion SES-PRO Arm Base Adaptation Plate
Eric Nantel 57.1 112 )))|(% style="text-align:center" %)1|[[SES-P-A-BAP-KT>>doc:ses-pro.ses-pro-parts.ses-p-a-bap-kt.WebHome]]|[[RB-Lyn-1180>>https://www.robotshop.com/products/lynxmotion-ses-pro-arm-base-adaptation-plate]]
113 |[[image:[email protected]]]|Lynxmotion SES-PRO Base For Lite Or Standard LSS-P Actuators|(% style="text-align:center" %)1|[[SES-P-A-B-S-KT>>doc:ses-pro.ses-pro-parts.ses-p-a-b-s-kt.WebHome]]|[[RB-Lyn-1170>>https://www.robotshop.com/products/lynxmotion-ses-pro-base-lite-or-standard-lss-p-actuators]]
114 |[[image:ses-pro.ses-pro-parts.ses-p-a-c-70-kt.WebHome@SES-P-A-C-70-KT.png]]|Lynxmotion SES-PRO Aluminum Clamp For 70mm CF Tubes|(% style="text-align:center" %)4|[[SES-P-A-C-70-KT>>doc:ses-pro.ses-pro-parts.ses-p-a-c-70-kt.WebHome]]|[[RB-Lyn-1169>>https://www.robotshop.com/products/lynxmotion-ses-pro-aluminum-clamp-for-70mm-cf-tubes]]
115 |[[image:[email protected]]]|Lynxmotion SES-PRO 118mm x 70mm Carbon Fiber Tube|(% style="text-align:center" %)1|[[CF-70x67-118-KT>>doc:ses-pro.ses-pro-parts.cf-70x67-kt.WebHome]]|[[RB-Lyn-1165>>https://www.robotshop.com/products/lynxmotion-ses-pro-118mm-x-70mm-carbon-fiber-tube]]
116 |[[image:[email protected]]]|Lynxmotion SES-PRO 143mm x 70mm Carbon Fiber Tube|(% style="text-align:center" %)1|[[CF-70x67-143-KT>>doc:ses-pro.ses-pro-parts.cf-70x67-kt.WebHome]]|[[RB-Lyn-1166>>https://www.robotshop.com/products/lynxmotion-ses-pro-143mm-x-70mm-carbon-fiber-tube]]
117 |[[image:[email protected]||alt="LSS-P-S1-TC-KT.png"]]|Lynxmotion SES-PRO LSS-P-L1 Output Shaft Cover Kit|(% style="text-align:center" %)2|[[SES-P-L1-SC-KT>>doc:ses-pro.ses-pro-parts.ses-p-sc-kt.WebHome]]|RB-Lyn-1189
Eric Nantel 53.1 118 (ask for price & availability)
Eric Nantel 57.1 119 |[[image:[email protected]||alt="LSS-P-S1-TC-KT.png"]]|Lynxmotion SES-PRO LSS-P-S1 Output Shaft Cover Kit|(% style="text-align:center" %)2|[[SES-P-S1-SC-KT>>doc:ses-pro.ses-pro-parts.ses-p-sc-kt.WebHome]]|RB-Lyn-1190
Eric Nantel 53.1 120 (ask for price & availability)
Eric Nantel 56.1 121 |[[image:[email protected]||alt="LSS-P-S1-TC-KT.png"]]|Lynxmotion SES-PRO 123mm Normal Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|SES-P-A-S-123-NOR|RB-2ne-11
Eric Nantel 52.1 122 (ask for price & availability)
Eric Nantel 56.1 123 |[[image:[email protected]||alt="LSS-P-S1-TC-KT.png"]]|Lynxmotion SES-PRO 148mm Normal Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|SES-P-A-S-148-NOR|RB-2ne-12
Eric Nantel 52.1 124 (ask for price & availability)
Eric Nantel 56.1 125 |[[image:[email protected]||alt="LSS-P-S1-TC-KT.png"]]|Lynxmotion SES-PRO 25mm Normal Tube Sleeve wo/ Lynxmotion Logo|(% style="text-align:center" %)4|SES-P-A-S-26-NOR|RB-2ne-06
Eric Nantel 52.1 126 (ask for price & availability)
Eric Nantel 56.1 127 |[[image:[email protected]]]|Lynxmotion SES-PRO 100-240VAC to 36VDC 30A Power Supply w/ Emergency Stop|(% style="text-align:center" %)1|36V-1500W-Custom|RB-Hap-13
Eric Nantel 52.1 128 (ask for price & availability)
Eric Nantel 56.1 129 |[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@LSS-P-ETH.png]]|Lynxmotion Smart Servo PRO RJ45 CAN Communication Cable (65cm)|(% style="text-align:center" %)1|LSS-P-ETH-650|RB-2se-03
Eric Nantel 52.1 130 (ask for price & availability)
Eric Nantel 56.1 131 |[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@LSS-P-XT60.png]]|Lynxmotion Smart Servo PRO XT60 Female to Female Extension (65cm)|(% style="text-align:center" %)1|LSS-P-XT60-650|RB-Hap-22
Eric Nantel 53.1 132 (ask for price & availability)
Eric Nantel 9.1 133
Eric Nantel 46.4 134 (% style="position: absolute; left: 752px; top: 257px; width: 1px; height: 1px; overflow: hidden;" %)
135 (((
136 (% style="background-color:#ffffff; width:1843px" %)
137 |=(% style="line-height: 1.42857;" %)NAME / DESCRIPTION
138 )))
Eric Nantel 46.1 139
Eric Nantel 54.1 140 = What’s Needed / Suggested =
Eric Nantel 20.1 141
Eric Nantel 53.1 142 |(% style="width:125px" %)**PICTURE**|**NAME / DESCRIPTION**|(% style="width:150px" %)**Lynxmotion SKU**|(% style="width:150px" %)**RobotShop SKU**
Eric Nantel 56.1 143 |[[image:ses-pro.ses-pro-parts.ses-p-dhr-pge-50-40-kt.WebHome@SES-P-DHR-PGE-50-40-KT.png]]|Lynxmotion SES-PRO DH Robotics PGE-50-40 Two Fingers Gripper Kit|SES-P-DHR-PGE-50-40-KT|RB-Lyn-1179
144 |[[image:ses-pro.ses-pro-parts.ses-p-dhr-cge-10-10-kt.WebHome@SES-P-DHR-CGE-10-10-KT.png]]|Lynxmotion SES-PRO DH Robotics CGE-10-10 Three Fingers Gripper Kit|SES-P-DHR-CGE-10-10-KT|[[RB-Lyn-1177>>https://www.robotshop.com/products/lynxmotion-ses-pro-dh-robotics-cge-10-10-three-fingers-gripper-kit]]
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