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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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 * Horizontal Reach: 550mm (no gripper)
39 * Vertical Reach: 630mm
40 * Degrees of Freedom (DoF): 6
41 * Payload: 2Kg (no gripper)
42 * Collision detection: No
43
44 **Mechanical**
45
46 * Motors: NEMA 23 & 17
47 * Gearing: Strain wave (aka “Harmonic drive”)
48
49 (% style="width:600px" %)
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°
57
58 **Electrical**
59
60 * Power Supply: 120V - 220V AC to 36V DC
61 * Emergency Stop Button & Protection Fuse
62 * Type B (USA) Plug (Standard Power Cable)
63 * Battery power alternative: 8 cell (8S)
64 * Wiring: external
65
66 **Communication**
67
68 * Communication method between servos: CAN Bus (custom)
69 * Communication method to first servo: USB (USB 3 suggested)
70 * Communication protocol: LSS-P (human readable)
71
72 = Media =
73
74 {{video url="https://youtu.be/DVyN6WXXhSk?si=4_08X5fvJwUvHTl3" width="700"/}}
75
76 = User Guides =
77
78 {{include context="NEW" reference="ses-pro.ses-pro-arms.ses-pro-550-6-dof-arm.ses-pro-550-6-dof-arm-guides.WebHome"/}}
79
80 = CAD Files =
81
82 * Simple Geometry
83 ** [[attach:SES-P-A-550-6DOF-SG.zip]]
84 * Complete public version
85 ** [[attach:SES-P-A-550-6DOF-Public.zip]]
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
89 = Dimensions =
90
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"]]
92
93 = What's Included =
94
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)
98 )))|(% style="text-align:center" %)3|[[LSS-P-L1>>doc:ses-pro.lss-pro.WebHome]]|(((
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)
103
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]]
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
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)
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
119 (ask for price & availability)
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
121 (ask for price & availability)
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
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)
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
127 (ask for price & availability)
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
129 (ask for price & availability)
130
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 )))
136
137 = What’s Needed / Suggested =
138
139 |(% style="width:125px" %)**PICTURE**|**NAME / DESCRIPTION**|(% style="width:150px" %)**Lynxmotion SKU**|(% style="width:150px" %)**RobotShop SKU**
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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