Changes for page SES-P 900mm 5DoF Robotic Arm
Last modified by Eric Nantel on 2024/10/21 14:26
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... ... @@ -35,36 +35,39 @@ 35 35 36 36 **General** 37 37 38 +* Horizontral Reach: 900mm 39 +* Vertical Reach: 1007mm 38 38 * Degrees of Freedom (DoF): 5 39 39 * Payload: 3Kg (no gripper) 40 -* Max speed (cartesian): Coming soon 41 41 * Collision detection: No 42 -* ROS 2: Coming soon 43 43 44 44 **Mechanical** 45 45 46 -* Horizontal reach: 900mm 47 -* Vertical reach: 48 -* Tubing material: carbon fiber 49 -* Joint material: machined aluminum 46 +* Motors: Stepper (NEMA 34, 23, 17) 47 +* Gearing: 100:1 Steel strain wave (aka "Harmonic Drive") 50 50 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-M1|(% style="text-align:center" %)Up to 220Nm|(% style="text-align:center" %)±180° 52 +|Joint 2 / Shoulder|(% style="text-align:center" %)LSS-P-M1|(% style="text-align:center" %)Up to 220Nm|(% 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 (fixed)|(% style="text-align:center" %)LSS-P-TC|(% style="text-align:center" %)-|(% style="text-align:center" %)- 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 + 51 51 **Electrical** 52 52 53 -* Input voltage:30V(nominal)54 -* Max current:Comingsoon55 -* Walladapter:120V - 220V56 -* Battery power alternative: 8 cell (8S) 60 +* Power Supply: 110V to 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) or 9 cell (9S) 57 57 * Wiring: external 58 58 59 59 **Communication** 60 60 61 -* Communication method: CAN Bus 68 +* Communication method between servos: CAN Bus (custom) 69 +* Communication method to first servo: USB (USB 3 suggested) 62 62 * Communication protocol: LSS-P (human readable) 63 -* Motor: NEMA 17 & 24 64 -* Gearing: Strain wave (aka “Harmonic drive”) 65 -* Safety: Emergency stop button & software stop 66 -* Joint angle: 360 (restricted by external cables) 67 - 68 68 69 69 = User Guides = 70 70 ... ... @@ -73,9 +73,9 @@ 73 73 = CAD Files = 74 74 75 75 * Simple Geometry 76 -** 79 +** [[attach:SES-P-A-900-5DOF-SG.zip]] 77 77 * Complete public version 78 -** 81 +** [[attach:SES-P-A-900-5DOF-Public.zip]] 79 79 * Drilling template for the mounting holes 80 80 ** [[attach:ses-pro.ses-pro-parts.ses-p-a-b-l-kt.WebHome@SES-P-A-B-L - Drill Template v1.0.pdf]] 81 81 ... ... @@ -85,22 +85,67 @@ 85 85 86 86 = What's Included = 87 87 88 -* 30V Power supply 89 -* Cables (USB, CAT5, Power) 90 -* Mounting hardware 91 +|=(% style="width: 125px;" %) PICTURE|= NAME / DESCRIPTION|=(% style="width: 55px; text-align: center;" %)Qty|=(% style="width: 150px;" %)Lynxmotion SKU|=(% style="width: 150px;" %)RobotShop SKU 92 +|[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-L1.png]]|((( 93 +Lynxmotion Smart Servo PRO Lite Modular Strain Wave Gear Actuator (LSS-P-L1) 94 +)))|(% style="text-align:center" %)2|[[LSS-P-L1>>doc:ses-pro.lss-pro.WebHome]]|((( 95 +[[RB-Lyn-1158>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-lite-modular-strain-wave-gear-actuator-lss-p-l1]] 96 +))) 97 +|[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-S1.png]]|((( 98 +Lynxmotion Smart Servo PRO Standard Modular Strain Wave Gear Actuator (LSS-P-S1) 91 91 92 -(% style="max-width:750px" %) 93 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome]]** 94 -|(% style="text-align:center; width:125px" %)2x LSS-P-L1|(% style="text-align:center; width:125px" %)1x LSS-P-S1|(% style="text-align:center; width:125px" %)2x LSS-P-M1|(% style="text-align:center; width:125px" %) |(% style="text-align:center; width:125px" %) |(% style="text-align:center" %) 95 -|(% style="text-align:center" %)LSS-PRO Lite|(% style="text-align:center" %)LSS-PRO Standard|(% style="text-align:center" %)LSS-PRO Mega|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) 96 -|[[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]]|[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-M1.png||alt="LSS-P-S1.png"]]| | | 100 + 101 +)))|(% style="text-align:center" %)1|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|((( 102 +[[RB-Lyn-1159>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-strain-wave-gear-actuator-lss-p-s1]] 103 +))) 104 +|[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-M1.png]]|((( 105 +Lynxmotion Smart Servo PRO Mega Modular Strain Wave Gear Actuator (LSS-P-M1) 97 97 98 -(% style="max-width:750px" %) 99 -|(% colspan="6" %)**[[Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]** 100 -|(% style="text-align:center; width:125px" %)4x HUB-24|(% style="text-align:center; width:125px" %)1x CF-70x67-280.5|(% style="text-align:center; width:125px" %)1x CF-70x67-305.5|(% style="text-align:center; width:125px" %)1x SES-P-A-B-S|(% style="text-align:center; width:125px" %) |(% style="text-align:center" %) 101 -|(% style="text-align:center" %)70mm Tube Clamp|(% style="text-align:center" %)280.5mm Carbon Fiber Tube|(% style="text-align:center" %)305.5mm Carbon Fiber Tube|(% style="text-align:center" %)PRO Base for LSS-P Standard or Lite|(% style="text-align:center" %) |(% style="text-align:center" %) 102 -|[[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-70x67-280.5.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@CF-70x67-305.5.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@HUB-25.png]]| | 107 + 108 +)))|(% style="text-align:center" %)2|[[LSS-P-M1>>path:/info/wiki/lynxmotion/get/ses-pro/ses-pro-arms/ses-pro-900-5-dof-arm/?sheet=CKEditor.ResourceDispatcher&outputSyntax=plain&language=en&type=doc&reference=ses-pro.lss-pro.WebHome&typed=true]]|[[RB-Lyn-1160>>url:https://ca.robotshop.com/products/lynxmotion-smart-servo-pro-mega-modular-strain-wave-gear-actuator-lss-p-m1]] 109 +|[[image:[email protected]]]|((( 110 +Lynxmotion SES-PRO Standard Modular T-Frame Coupler 103 103 104 -= What’s Needed = 112 + 113 +)))|(% style="text-align:center" %)1|[[SES-P-S1-TC-KT>>doc:ses-pro.ses-pro-parts.ses-p-s1-tc-kt.WebHome]]|((( 114 +[[RB-Lyn-1178>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-t-frame-coupler]] 115 +))) 116 +|[[image:[email protected]]]|((( 117 +Lynxmotion SES-PRO Arm Base Adaptation Plate 118 +)))|(% 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]] 119 +|[[image:[email protected]]]|Lynxmotion SES-PRO Base For Mega LSS-P Actuators|(% style="text-align:center" %)1|[[SES-P-A-B-L-KT>>doc:ses-pro.ses-pro-parts.ses-p-a-b-l-kt.WebHome]]|[[RB-Lyn-1171>>https://ca.robotshop.com/products/lynxmotion-ses-pro-base-mega-lss-p-actuators]] 120 +|[[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]] 121 +|[[image:[email protected]]]|Lynxmotion SES-PRO 280.5mm x 70mm Carbon Fiber Tube|(% style="text-align:center" %)1|[[CF-70x67-280.5-KT>>doc:ses-pro.ses-pro-parts.cf-70x67-kt.WebHome]]|[[RB-Lyn-1167>>https://ca.robotshop.com/products/lynxmotion-ses-pro-2805mm-x-70mm-carbon-fiber-tube]] 122 +|[[image:[email protected]]]|Lynxmotion SES-PRO 305.5mm x 70mm Carbon Fiber Tube|(% style="text-align:center" %)1|[[CF-70x67-305.5-KT>>doc:ses-pro.ses-pro-parts.cf-70x67-kt.WebHome]]|[[RB-Lyn-1168>>https://ca.robotshop.com/products/lynxmotion-ses-pro-3055mm-x-70mm-carbon-fiber-tube]] 123 +|[[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 124 +(ask for price & availability) 125 +|[[image:[email protected]||alt="LSS-P-S1-TC-KT.png"]]|Lynxmotion SES-PRO LSS-P-S1 Output Shaft Cover Kit|(% style="text-align:center" %)1|[[SES-P-S1-SC-KT>>doc:ses-pro.ses-pro-parts.ses-p-sc-kt.WebHome]]|RB-Lyn-1190 126 +(ask for price & availability) 127 +|[[image:[email protected]]]|Lynxmotion SES-PRO LSS-P-M1 Output Shaft Cover Kit|(% style="text-align:center" %)1|[[SES-P-M1-SC-KT>>doc:ses-pro.ses-pro-parts.ses-p-sc-kt.WebHome]]|RB-Lyn-1191 128 +(ask for price & availability) 129 +|[[image:[email protected]]]|Lynxmotion SES-PRO 285.5mm 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-11 130 +(ask for price & availability) 131 +|[[image:[email protected]]]|Lynxmotion SES-PRO 310.5mm 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-12 132 +(ask for price & availability) 133 +|[[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-06 134 +(ask for price & availability) 135 +|[[image:[email protected]]]|Lynxmotion SES-PRO 34mm Normal Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|[[SES-P-A-S-34-NOR>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-09 136 +(ask for price & availability) 137 +|[[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-13 138 +(ask for price & availability) 139 +|[[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>>doc:servo-erector-set-system.ses-electronics.ses-wiring.WebHome]]|RB-2se-03 140 +(ask for price & availability) 141 +|[[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>>doc:servo-erector-set-system.ses-electronics.ses-wiring.WebHome]]|RB-Hap-22 142 +(ask for price & availability) 105 105 106 -* Gripper (Lynxmotion Pro gripper suggested & Coming Soon) 144 +(% style="position: absolute; left: 752px; top: 257px; width: 1px; height: 1px; overflow: hidden;" %) 145 +((( 146 +(% style="background-color:#ffffff; width:1843px" %) 147 +|=(% style="line-height: 1.42857;" %)NAME / DESCRIPTION 148 +))) 149 + 150 += What’s Needed / Suggested = 151 + 152 +|(% style="width:125px" %)**PICTURE**|**NAME / DESCRIPTION**|(% style="width:150px" %)**Lynxmotion SKU**|(% style="width:150px" %)**RobotShop SKU** 153 +|[[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]] 154 +|[[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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