Wiki source code of SES-P 550mm 6DoF Robotic Arm
Version 39.1 by Eric Nantel on 2024/07/17 12:19
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| 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"/}} |
| 2 | |
| 3 | [[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-550mm-6dof-modular-robotic-arm-kit||rel="noopener noreferrer" target="_blank"]][[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-550mm-6dof-modular-robotic-arm-assembled||rel="noopener noreferrer" target="_blank"]] |
| 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 | |
| 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. |
| 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 | |
| 38 | * Degrees of Freedom (DoF): 6 |
| 39 | * Payload: 2Kg (no gripper) |
| 40 | * Max speed (cartesian): Coming soon |
| 41 | * Collision detection: No |
| 42 | * ROS 2: Coming soon |
| 43 | |
| 44 | **Mechanical** |
| 45 | |
| 46 | * Horizontal reach: 900mm |
| 47 | * Vertical reach: |
| 48 | * Tubing material: carbon fiber |
| 49 | * Joint material: machined aluminum |
| 50 | |
| 51 | **Electrical** |
| 52 | |
| 53 | * Input voltage: 30V (nominal) |
| 54 | * Max current: Coming soon |
| 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) |
| 63 | * Motors: NEMA 17 & 14 |
| 64 | * Gearing: Strain wave (aka “Harmonic drive”) |
| 65 | * Safety: Emergency stop button & software stop |
| 66 | |
| 67 | |
| 68 | = User Guides = |
| 69 | |
| 70 | {{include context="NEW" reference="ses-pro.ses-pro-arms.ses-pro-550-6-dof-arm.ses-pro-550-6-dof-arm-guides.WebHome"/}} |
| 71 | |
| 72 | = CAD Files = |
| 73 | |
| 74 | * Simple Geometry |
| 75 | ** [[attach:SES-P-A-550-6DOF-SG.zip]] |
| 76 | * Complete public version |
| 77 | ** [[attach:SES-P-A-550-6DOF-Public.zip]] |
| 78 | * Drilling template for the mounting holes |
| 79 | ** [[attach:ses-pro.ses-pro-parts.ses-p-a-b-s-kt.WebHome@SES-P-A-B-S - Drill Template v1.0.pdf]] |
| 80 | |
| 81 | = Dimensions = |
| 82 | |
| 83 | [[image:SES-P-A-550-6DOF-Dimensions.png||alt="lynxmotion-ses-pro-550mm-6dof-modular-robotic-arm-kit-dimensions.jpg" height="400" width="400"]] |
| 84 | |
| 85 | = What's Included = |
| 86 | |
| 87 | * 30V Power supply |
| 88 | * Cables (USB, CAT5, Power) |
| 89 | * Mounting hardware |
| 90 | |
| 91 | (% style="max-width:750px" %) |
| 92 | |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome]]** |
| 93 | |(% 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" %) |
| 94 | |(% 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" %) |
| 95 | |[[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]]| | | | |
| 96 | |
| 97 | (% style="max-width:750px" %) |
| 98 | |(% colspan="6" %)**[[Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]** |
| 99 | |(% 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" %) |
| 100 | |(% 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" %) |
| 101 | |[[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]]| | |
| 102 | |
| 103 | = What’s Needed = |
| 104 | |
| 105 | * Gripper (Lynxmotion Pro gripper suggested & Coming Soon) |