Wiki source code of SES-P 900mm 5DoF Robotic Arm

Version 44.1 by Eric Nantel on 2024/07/17 12:20
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Eric Nantel 41.1 1 {{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/ses-pro-arms/ses-pro-900-5-dof-arm/WebHome/SES-P-A-900-5DOF-01.png" width="350"/}}
Eric Nantel 3.1 2
Eric Nantel 44.1 3 [[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-900mm-5dof-modular-robotic-arm-kit||rel="noopener noreferrer" target="_blank"]][[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-900mm-5dof-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
Eric Nantel 7.1 11 * Modular, customizable & reconfigurable semi-professional arm
12 * Easy to use with human readable communication protocol
13 * High accuracy and competitive payload capacity
14 * 900mm horizontal extension
15 * 3Kg payload and ±0.1 mm accuracy
16 * Gripper sold separately
Eric Nantel 3.1 17
Eric Nantel 7.1 18 The **Lynxmotion SES-PRO 900mm 5Dof Modular Robotic Arm** offers a payload of 3Kg 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
Eric Nantel 3.1 34 = Specifications =
35
Eric Nantel 7.1 36 **General**
Eric Nantel 3.1 37
Eric Nantel 7.1 38 * Degrees of Freedom (DoF): 5
39 * Payload: 3Kg (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 * 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
Eric Nantel 37.1 69 = User Guides =
Eric Nantel 3.1 70
Eric Nantel 37.1 71 {{include context="NEW" reference="ses-pro.ses-pro-arms.ses-pro-900-5-dof-arm.ses-pro-900-5-dof-arm-guides.WebHome"/}}
Eric Nantel 3.1 72
Eric Nantel 40.1 73 = CAD Files =
74
Eric Nantel 43.1 75 * Simple Geometry
76 **
77 * Complete public version
78 **
Eric Nantel 42.1 79 * Drilling template for the mounting holes
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
Eric Nantel 3.1 82 = Dimensions =
83
Eric Nantel 29.1 84 [[image:SES-P-A-900-5DOF-Dimensions.png||alt="lynxmotion-ses-pro-900mm-5dof-modular-robotic-arm-kit-dimensions.jpg" height="400" width="400"]]
Eric Nantel 3.1 85
86 = What's Included =
87
Eric Nantel 5.1 88 * 30V Power supply
89 * Cables (USB, CAT5, Power)
90 * Mounting hardware
91
Eric Nantel 3.1 92 (% style="max-width:750px" %)
93 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome]]**
Eric Nantel 22.1 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" %)
Eric Nantel 23.1 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"]]| | |
Eric Nantel 3.1 97
98 (% style="max-width:750px" %)
99 |(% colspan="6" %)**[[Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
Eric Nantel 22.1 100 |(% 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" %)
Eric Nantel 24.1 102 |[[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]]| |
Eric Nantel 5.1 103
104 = What’s Needed =
105
106 * Gripper (Lynxmotion Pro gripper suggested & Coming Soon)

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