Wiki source code of SES-P 550mm 6DoF Robotic Arm

Last modified by Eric Nantel on 2024/10/21 14:26
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Eric Nantel 32.1 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 3.1 2
Eric Nantel 39.1 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"]]
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
Coleman Benson 45.2 38 * Horizontal Reach: 550mm (no gripper)
39 * Vertical Reach: 630mm
Eric Nantel 5.1 40 * Degrees of Freedom (DoF): 6
Eric Nantel 3.1 41 * Payload: 2Kg (no gripper)
42 * Collision detection: No
43
44 **Mechanical**
45
Coleman Benson 45.2 46 * Motors: NEMA 23 & 17
47 * Gearing: Strain wave (aka “Harmonic drive”)
Eric Nantel 3.1 48
Eric Nantel 43.2 49 (% style="width:600px" %)
Coleman Benson 45.2 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°
54 |Joint 4 / Wrist Roll|(% style="text-align:center" %)LSS-P-L1|(% style="text-align:center" %)Up to 18Nm|(% style="text-align:center" %)±180°
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 43.2 57
Eric Nantel 3.1 58 **Electrical**
59
Coleman Benson 45.2 60 * Power Supply: 120V - 220V AC to 36V DC
61 * Emergency Stop Button & Protection Fuse
62 * Type B (USA) Plug (Standard Power Cable)
Eric Nantel 3.1 63 * Battery power alternative: 8 cell (8S)
64 * Wiring: external
65
66 **Communication**
67
Coleman Benson 47.1 68 * Communication method between servos: CAN Bus (custom)
69 * Communication method to first servo: USB (USB 3 suggested)
Eric Nantel 3.1 70 * Communication protocol: LSS-P (human readable)
71
Eric Nantel 48.1 72 = Media =
73
74 {{video url="https://youtu.be/DVyN6WXXhSk?si=4_08X5fvJwUvHTl3" width="700"/}}
75
Eric Nantel 27.1 76 = User Guides =
Eric Nantel 3.1 77
Eric Nantel 27.1 78 {{include context="NEW" reference="ses-pro.ses-pro-arms.ses-pro-550-6-dof-arm.ses-pro-550-6-dof-arm-guides.WebHome"/}}
Eric Nantel 3.1 79
Eric Nantel 30.1 80 = CAD Files =
81
Eric Nantel 35.1 82 * Simple Geometry
Eric Nantel 38.1 83 ** [[attach:SES-P-A-550-6DOF-SG.zip]]
Eric Nantel 35.1 84 * Complete public version
Eric Nantel 38.1 85 ** [[attach:SES-P-A-550-6DOF-Public.zip]]
Eric Nantel 33.1 86 * Drilling template for the mounting holes
Eric Nantel 34.1 87 ** [[attach:ses-pro.ses-pro-parts.ses-p-a-b-s-kt.WebHome@SES-P-A-B-S - Drill Template v1.0.pdf]]
Eric Nantel 33.1 88
Eric Nantel 3.1 89 = Dimensions =
90
Eric Nantel 19.1 91 [[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 92
93 = What's Included =
94
Eric Nantel 40.1 95 |=(% style="width: 125px;" %) PICTURE|= NAME / DESCRIPTION|=(% style="width: 55px; text-align: center;" %)Qty|=(% style="width: 150px;" %)Lynxmotion SKU|=(% style="width: 150px;" %)RobotShop SKU
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)
Eric Nantel 41.1 98 )))|(% style="text-align:center" %)3|[[LSS-P-L1>>doc:ses-pro.lss-pro.WebHome]]|(((
Eric Nantel 40.1 99 [[RB-Lyn-1158>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-lite-modular-strain-wave-gear-actuator-lss-p-l1]]
100 )))
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)
Eric Nantel 5.1 103
Eric Nantel 40.1 104
105 )))|(% style="text-align:center" %)3|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|(((
106 [[RB-Lyn-1159>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-strain-wave-gear-actuator-lss-p-s1]]
107 )))
108 |[[image:[email protected]]]|(((
109 Lynxmotion SES-PRO Arm Base Adaptation Plate
110 )))|(% 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]]
111 |[[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]]
112 |[[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]]
Eric Nantel 41.1 113 |[[image:[email protected]]]|Lynxmotion SES-PRO 118mm x 70mm Carbon Fiber Tube|(% style="text-align:center" %)2|[[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]]
114 |[[image:[email protected]||alt="LSS-P-S1-TC-KT.png"]]|Lynxmotion SES-PRO LSS-P-L1 Output Shaft Cover Kit|(% style="text-align:center" %)3|[[SES-P-L1-SC-KT>>doc:ses-pro.ses-pro-parts.ses-p-sc-kt.WebHome]]|RB-Lyn-1189
Eric Nantel 40.1 115 (ask for price & availability)
116 |[[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
117 (ask for price & availability)
Eric Nantel 43.1 118 |[[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 40.1 119 (ask for price & availability)
Eric Nantel 43.1 120 |[[image:[email protected]]]|Lynxmotion SES-PRO 150mm Extended Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|[[SES-P-A-S-150-EXT>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-08
Eric Nantel 40.1 121 (ask for price & availability)
Eric Nantel 43.1 122 |[[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 40.1 123 (ask for price & availability)
124 |[[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
125 (ask for price & availability)
Eric Nantel 45.1 126 |[[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 40.1 127 (ask for price & availability)
Eric Nantel 45.1 128 |[[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 40.1 129 (ask for price & availability)
Eric Nantel 6.1 130
Eric Nantel 40.1 131 (% style="position: absolute; left: 752px; top: 257px; width: 1px; height: 1px; overflow: hidden;" %)
132 (((
133 (% style="background-color:#ffffff; width:1843px" %)
134 |=(% style="line-height: 1.42857;" %)NAME / DESCRIPTION
135 )))
Eric Nantel 6.1 136
Eric Nantel 40.1 137 = What’s Needed / Suggested =
138
139 |(% style="width:125px" %)**PICTURE**|**NAME / DESCRIPTION**|(% style="width:150px" %)**Lynxmotion SKU**|(% style="width:150px" %)**RobotShop SKU**
Eric Nantel 43.1 140 |[[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]]
141 |[[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]]

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