Changes for page SES-P 900mm 5DoF Robotic Arm
Last modified by Eric Nantel on 2024/10/21 14:26
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... ... @@ -35,37 +35,44 @@ 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 72 += Media = 73 + 74 +{{video url="https://youtu.be/DVyN6WXXhSk?si=4_08X5fvJwUvHTl3" width="700"/}} 75 + 69 69 = User Guides = 70 70 71 71 {{include context="NEW" reference="ses-pro.ses-pro-arms.ses-pro-900-5-dof-arm.ses-pro-900-5-dof-arm-guides.WebHome"/}} ... ... @@ -73,9 +73,9 @@ 73 73 = CAD Files = 74 74 75 75 * Simple Geometry 76 -** 83 +** [[attach:SES-P-A-900-5DOF-SG.zip]] 77 77 * Complete public version 78 -** 85 +** [[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 ... ... @@ -95,9 +95,14 @@ 95 95 Lynxmotion Smart Servo PRO Standard Modular Strain Wave Gear Actuator (LSS-P-S1) 96 96 97 97 98 -)))|(% style="text-align:center" %) 3|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|(((105 +)))|(% style="text-align:center" %)1|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|((( 99 99 [[RB-Lyn-1159>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-strain-wave-gear-actuator-lss-p-s1]] 100 100 ))) 108 +|[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-M1.png]]|((( 109 +Lynxmotion Smart Servo PRO Mega Modular Strain Wave Gear Actuator (LSS-P-M1) 110 + 111 + 112 +)))|(% 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]] 101 101 |[[image:[email protected]]]|((( 102 102 Lynxmotion SES-PRO Standard Modular T-Frame Coupler 103 103 ... ... @@ -108,25 +108,29 @@ 108 108 |[[image:[email protected]]]|((( 109 109 Lynxmotion SES-PRO Arm Base Adaptation Plate 110 110 )))|(% 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:ses-pro.ses-pro-parts.ses-p-a-b- s-kt.WebHome@SES-P-A-B-S-KT.png]]|Lynxmotion SES-PRO Base ForLiteOr StandardLSS-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]]123 +|[[image:ses-pro.ses-pro-parts.ses-p-a-b-l-kt.WebHome@SES-P-A-B-L-KT.png]]|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]] 112 112 |[[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:ses-pro.ses-pro-parts.cf-70x67-kt.WebHome@CF-70x67- 118.png]]|Lynxmotion SES-PRO118mm 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]]114 -|[[image:ses-pro.ses-pro-parts.cf-70x67-kt.WebHome@CF-70x67- 143.png]]|Lynxmotion SES-PRO143mm 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]]125 +|[[image:ses-pro.ses-pro-parts.cf-70x67-kt.WebHome@CF-70x67-280.5.png]]|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]] 126 +|[[image:ses-pro.ses-pro-parts.cf-70x67-kt.WebHome@CF-70x67-305.5.png]]|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]] 115 115 |[[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 116 116 (ask for price & availability) 117 -|[[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-1190129 +|[[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 118 118 (ask for price & availability) 119 -|[[image:ses-pro.ses-pro-parts.ses-p- a-s.WebHome@SES-P-A-S-123-NOR.png]]|Lynxmotion SES-PRO 123mmNormal TubeSleevew/ Lynxmotion Logo|(% style="text-align:center" %)1|SES-P-A-S-123-NOR|RB-2ne-11131 +|[[image:ses-pro.ses-pro-parts.ses-p-sc-kt.WebHome@LSS-P-M1-SC.png]]|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 120 120 (ask for price & availability) 121 -|[[image:ses-pro.ses-pro-parts.ses-p-a-s.WebHome@SES-P-A-S- 148-NOR.png]]|Lynxmotion SES-PRO148mm Normal Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|SES-P-A-S-148-NOR|RB-2ne-12133 +|[[image:ses-pro.ses-pro-parts.ses-p-a-s.WebHome@SES-P-A-S-285.5-NOR.png]]|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-11 122 122 (ask for price & availability) 123 -|[[image:ses-pro.ses-pro-parts.ses-p-a-s.WebHome@SES-P-A-S- 26-NOR.png]]|Lynxmotion SES-PRO25mm Normal Tube Sleeve wo/ Lynxmotion Logo|(% style="text-align:center" %)4|SES-P-A-S-26-NOR|RB-2ne-06135 +|[[image:ses-pro.ses-pro-parts.ses-p-a-s.WebHome@SES-P-A-S-310.5-NOR.png]]|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-12 124 124 (ask for price & availability) 137 +|[[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-06 138 +(ask for price & availability) 139 +|[[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-09 140 +(ask for price & availability) 125 125 |[[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-13 126 126 (ask for price & availability) 127 -|[[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|RB-2se-03 143 +|[[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-03 128 128 (ask for price & availability) 129 -|[[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|RB-Hap-22 145 +|[[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-22 130 130 (ask for price & availability) 131 131 132 132 (% style="position: absolute; left: 752px; top: 257px; width: 1px; height: 1px; overflow: hidden;" %) ... ... @@ -138,5 +138,5 @@ 138 138 = What’s Needed / Suggested = 139 139 140 140 |(% style="width:125px" %)**PICTURE**|**NAME / DESCRIPTION**|(% style="width:150px" %)**Lynxmotion SKU**|(% style="width:150px" %)**RobotShop SKU** 141 -|[[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|RB-Lyn-1179 142 -|[[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|[[RB-Lyn-1177>>https://www.robotshop.com/products/lynxmotion-ses-pro-dh-robotics-cge-10-10-three-fingers-gripper-kit]] 157 +|[[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]] 158 +|[[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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