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

Last modified by Eric Nantel on 2024/10/21 14:50
Hide last authors
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 68.1 3 [[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-550mm-5dof-modular-robotic-arm-kit||rel="noopener noreferrer" target="_blank"]][[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-550mm-5dof-modular-robotic-arm-assembled||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 * Collision detection: No
Coleman Benson 74.2 41 * Horizontal reach: 550mm (no gripper)
42 * Vertical reach: 630mm
Eric Nantel 8.1 43
44 **Mechanical**
45
Coleman Benson 76.1 46 * Motors: NEMA 23 & 17
Coleman Benson 74.2 47 * Gearing: 100:1 Strain wave (aka “Harmonic drive”)
Eric Nantel 8.1 48
Eric Nantel 71.1 49 (% style="width:600px" %)
Coleman Benson 76.1 50 |(% style="text-align:center" %)**Location**|(% style="text-align:center" %)**Type**|(% style="text-align:center" %)**Torque**|(% style="text-align:center" %)
51 |Joint 1 / Base|(% style="text-align:center" %)LSS-P-S1|(% style="text-align:center" %)Up to 80Nm|(% style="text-align:center" %)±180°
52 |Joint 2 / Shoulder|(% style="text-align:center" %)LSS-P-S1|(% style="text-align:center" %)Up to 80Nm|(% style="text-align:center" %)±180°
53 |Joint 3 / Elbow|(% style="text-align:center" %)LSS-P-S1|(% style="text-align:center" %)Up to 80Nm|(% style="text-align:center" %)±180°
Eric Nantel 71.1 54 |Joint 4 / Wrist Roll (fixed)|(% style="text-align:center" %)LSS-P-TC|(% style="text-align:center" %)-|(% style="text-align:center" %)-
Coleman Benson 76.1 55 |Joint 5 / Wrist Pitch|(% style="text-align:center" %)LSS-P-L1|(% style="text-align:center" %)Up to 18Nm|(% style="text-align:center" %)±180°
56 |Joint 6 / Wrist Yaw|(% style="text-align:center" %)LSS-P-L1|(% style="text-align:center" %)Up to 18Nm|(% style="text-align:center" %)±180°
Eric Nantel 70.2 57
Eric Nantel 8.1 58 **Electrical**
59
Coleman Benson 76.1 60 * Power Supply: 120V - 220V AC to 36V DC
61 * Emergency Stop Button & Protection Fues
62 * Type B (USA) Plug (Standard Power Cable)
Coleman Benson 74.2 63 * Battery power alternative: 8 cell (8S) or 9 cell (9S)
Eric Nantel 8.1 64 * Wiring: external
65
66 **Communication**
67
Coleman Benson 77.1 68 * Communication method between servos: CAN Bus (custom)
69 * Communication method to first servo: USB (USB 3 suggested)
Eric Nantel 8.1 70 * Communication protocol: LSS-P (human readable)
71
Eric Nantel 78.1 72 = Media =
73
Eric Nantel 79.1 74 {{video url="https://youtu.be/DVyN6WXXhSk?si=4_08X5fvJwUvHTl3" width="700"/}}
Eric Nantel 78.1 75
Eric Nantel 44.1 76 = User Guides =
Eric Nantel 4.1 77
Eric Nantel 43.1 78 {{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 79
Eric Nantel 60.1 80 = CAD Files =
81
Eric Nantel 63.1 82 * Simple Geometry
Eric Nantel 66.1 83 ** [[attach:SES-P-A-550-5DOF-SG.zip]]
84 * Complete public version
85 ** [[attach:SES-P-A-550-5DOF-Public.zip]]
Eric Nantel 62.1 86 * Drilling template for the mounting holes
87 ** [[attach:ses-pro.ses-pro-parts.ses-p-a-b-s-kt.WebHome@SES-P-A-B-S - Drill Template v1.0.pdf]]
88
Eric Nantel 7.1 89 = Dimensions =
90
Eric Nantel 32.1 91 [[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 92
Eric Nantel 4.1 93 = What's Included =
94
Eric Nantel 64.1 95 |=(% 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 96 |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-L1.png]]|(((
97 Lynxmotion Smart Servo PRO Lite Modular Strain Wave Gear Actuator (LSS-P-L1)
98 )))|(% style="text-align:center" %)2|[[LSS-P-L1>>doc:ses-pro.lss-pro.WebHome]]|(((
Eric Nantel 53.1 99 [[RB-Lyn-1158>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-lite-modular-strain-wave-gear-actuator-lss-p-l1]]
Eric Nantel 46.4 100 )))
Eric Nantel 58.1 101 |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-S1.png]]|(((
102 Lynxmotion Smart Servo PRO Standard Modular Strain Wave Gear Actuator (LSS-P-S1)
103
Eric Nantel 64.1 104
Eric Nantel 58.1 105 )))|(% style="text-align:center" %)3|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|(((
Eric Nantel 53.1 106 [[RB-Lyn-1159>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-strain-wave-gear-actuator-lss-p-s1]]
Eric Nantel 46.4 107 )))
Eric Nantel 56.1 108 |[[image:[email protected]]]|(((
Eric Nantel 46.4 109 Lynxmotion SES-PRO Standard Modular T-Frame Coupler
Eric Nantel 58.1 110
Eric Nantel 64.1 111
Eric Nantel 57.1 112 )))|(% style="text-align:center" %)1|[[SES-P-S1-TC-KT>>doc:ses-pro.ses-pro-parts.ses-p-s1-tc-kt.WebHome]]|(((
Eric Nantel 53.1 113 [[RB-Lyn-1178>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-t-frame-coupler]]
Eric Nantel 46.4 114 )))
Eric Nantel 56.1 115 |[[image:[email protected]]]|(((
Eric Nantel 46.4 116 Lynxmotion SES-PRO Arm Base Adaptation Plate
Eric Nantel 57.1 117 )))|(% 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]]
118 |[[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]]
119 |[[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]]
120 |[[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]]
121 |[[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]]
122 |[[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 53.1 123 (ask for price & availability)
Eric Nantel 57.1 124 |[[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 53.1 125 (ask for price & availability)
Eric Nantel 70.1 126 |[[image:[email protected]]]|Lynxmotion SES-PRO 123mm Normal Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|[[SES-P-A-S-123-NOR>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-11
Eric Nantel 52.1 127 (ask for price & availability)
Eric Nantel 70.1 128 |[[image:[email protected]]]|Lynxmotion SES-PRO 148mm Normal Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|[[SES-P-A-S-148-NOR>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-12
Eric Nantel 52.1 129 (ask for price & availability)
Eric Nantel 70.1 130 |[[image:[email protected]]]|Lynxmotion SES-PRO 25mm Normal Tube Sleeve wo/ Lynxmotion Logo|(% style="text-align:center" %)4|[[SES-P-A-S-26-NOR>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-06
Eric Nantel 52.1 131 (ask for price & availability)
Eric Nantel 56.1 132 |[[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 52.1 133 (ask for price & availability)
Eric Nantel 74.1 134 |[[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" %)2|[[LSS-P-ETH-650>>doc:servo-erector-set-system.ses-electronics.ses-wiring.WebHome]]|RB-2se-03
Eric Nantel 52.1 135 (ask for price & availability)
Eric Nantel 74.1 136 |[[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" %)2|[[LSS-P-XT60-650>>doc:servo-erector-set-system.ses-electronics.ses-wiring.WebHome]]|RB-Hap-22
Eric Nantel 53.1 137 (ask for price & availability)
Eric Nantel 9.1 138
Eric Nantel 46.4 139 (% style="position: absolute; left: 752px; top: 257px; width: 1px; height: 1px; overflow: hidden;" %)
140 (((
141 (% style="background-color:#ffffff; width:1843px" %)
142 |=(% style="line-height: 1.42857;" %)NAME / DESCRIPTION
143 )))
Eric Nantel 46.1 144
Eric Nantel 54.1 145 = What’s Needed / Suggested =
Eric Nantel 20.1 146
Eric Nantel 53.1 147 |(% style="width:125px" %)**PICTURE**|**NAME / DESCRIPTION**|(% style="width:150px" %)**Lynxmotion SKU**|(% style="width:150px" %)**RobotShop SKU**
Eric Nantel 70.1 148 |[[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>>doc:ses-pro.ses-pro-parts.ses-p-dhr-pge-50-40-kt.WebHome]]|[[RB-Lyn-1179>>https://ca.robotshop.com/products/lynxmotion-ses-pro-dh-robotics-pge-50-40-two-fingers-gripper-kit]]
149 |[[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>>doc:ses-pro.ses-pro-parts.ses-p-dhr-cge-10-10-kt.WebHome]]|[[RB-Lyn-1177>>https://www.robotshop.com/products/lynxmotion-ses-pro-dh-robotics-cge-10-10-three-fingers-gripper-kit]]

Navigation

Copyright RobotShop 2018