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

Last modified by Eric Nantel on 2024/10/21 14:26
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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
Coleman Benson 54.1 38 * Horizontral Reach: 900mm
39 * Vertical Reach: 1007mm
Eric Nantel 7.1 40 * Degrees of Freedom (DoF): 5
41 * Payload: 3Kg (no gripper)
42 * Collision detection: No
43
44 **Mechanical**
45
Coleman Benson 54.1 46 * Motors: Stepper (NEMA 34, 23, 17)
47 * Gearing: 100:1 Steel strain wave (aka "Harmonic Drive")
Eric Nantel 7.1 48
Eric Nantel 52.2 49 (% style="width:600px" %)
Coleman Benson 54.1 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°
Eric Nantel 52.2 54 |Joint 4 / Wrist Roll (fixed)|(% style="text-align:center" %)LSS-P-TC|(% style="text-align:center" %)-|(% style="text-align:center" %)-
Coleman Benson 54.1 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 52.2 57
Eric Nantel 7.1 58 **Electrical**
59
Coleman Benson 54.1 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)
Eric Nantel 7.1 64 * Wiring: external
65
66 **Communication**
67
Coleman Benson 54.1 68 * Communication method between servos: CAN Bus (custom)
69 * Communication method to first servo: USB (USB 3 suggested)
Eric Nantel 7.1 70 * Communication protocol: LSS-P (human readable)
71
Eric Nantel 55.1 72 = Media =
73
74 {{video url="https://youtu.be/DVyN6WXXhSk?si=4_08X5fvJwUvHTl3" width="700"/}}
75
Eric Nantel 37.1 76 = User Guides =
Eric Nantel 3.1 77
Eric Nantel 37.1 78 {{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 79
Eric Nantel 40.1 80 = CAD Files =
81
Eric Nantel 43.1 82 * Simple Geometry
Eric Nantel 49.1 83 ** [[attach:SES-P-A-900-5DOF-SG.zip]]
Eric Nantel 43.1 84 * Complete public version
Eric Nantel 51.1 85 ** [[attach:SES-P-A-900-5DOF-Public.zip]]
Eric Nantel 42.1 86 * Drilling template for the mounting holes
87 ** [[attach:ses-pro.ses-pro-parts.ses-p-a-b-l-kt.WebHome@SES-P-A-B-L - Drill Template v1.0.pdf]]
88
Eric Nantel 3.1 89 = Dimensions =
90
Eric Nantel 29.1 91 [[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 92
93 = What's Included =
94
Eric Nantel 45.1 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)
98 )))|(% style="text-align:center" %)2|[[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)
Eric Nantel 5.1 103
Eric Nantel 45.1 104
Eric Nantel 46.1 105 )))|(% style="text-align:center" %)1|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|(((
Eric Nantel 45.1 106 [[RB-Lyn-1159>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-strain-wave-gear-actuator-lss-p-s1]]
107 )))
Eric Nantel 46.1 108 |[[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]]
Eric Nantel 45.1 113 |[[image:[email protected]]]|(((
114 Lynxmotion SES-PRO Standard Modular T-Frame Coupler
Eric Nantel 3.1 115
Eric Nantel 45.1 116
117 )))|(% style="text-align:center" %)1|[[SES-P-S1-TC-KT>>doc:ses-pro.ses-pro-parts.ses-p-s1-tc-kt.WebHome]]|(((
118 [[RB-Lyn-1178>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-t-frame-coupler]]
119 )))
120 |[[image:[email protected]]]|(((
121 Lynxmotion SES-PRO Arm Base Adaptation Plate
122 )))|(% 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]]
Eric Nantel 46.1 123 |[[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]]
Eric Nantel 45.1 124 |[[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 47.1 125 |[[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]]
126 |[[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]]
Eric Nantel 45.1 127 |[[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
128 (ask for price & availability)
Eric Nantel 48.1 129 |[[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
Eric Nantel 45.1 130 (ask for price & availability)
Eric Nantel 47.1 131 |[[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
Eric Nantel 45.1 132 (ask for price & availability)
Eric Nantel 46.1 133 |[[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
Eric Nantel 45.1 134 (ask for price & availability)
Eric Nantel 46.1 135 |[[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
Eric Nantel 45.1 136 (ask for price & availability)
Eric Nantel 46.1 137 |[[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)
Eric Nantel 45.1 141 |[[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
142 (ask for price & availability)
Eric Nantel 47.1 143 |[[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
Eric Nantel 45.1 144 (ask for price & availability)
Eric Nantel 47.1 145 |[[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
Eric Nantel 45.1 146 (ask for price & availability)
Eric Nantel 5.1 147
Eric Nantel 45.1 148 (% style="position: absolute; left: 752px; top: 257px; width: 1px; height: 1px; overflow: hidden;" %)
149 (((
150 (% style="background-color:#ffffff; width:1843px" %)
151 |=(% style="line-height: 1.42857;" %)NAME / DESCRIPTION
152 )))
Eric Nantel 5.1 153
Eric Nantel 45.1 154 = What’s Needed / Suggested =
155
156 |(% style="width:125px" %)**PICTURE**|**NAME / DESCRIPTION**|(% style="width:150px" %)**Lynxmotion SKU**|(% style="width:150px" %)**RobotShop SKU**
Eric Nantel 47.1 157 |[[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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