Last modified by Eric Nantel on 2025/05/26 07:33
From version < 37.2 >
edited by Eric Nantel
on 2024/07/17 12:19
To version < 51.1 >
edited by Coleman Benson
on 2024/10/08 12:04
< >
Change comment: There is no comment for this version

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1 -xwiki:XWiki.ENantel
1 +xwiki:XWiki.CBenson
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... ... @@ -1,6 +1,6 @@
1 1  {{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/ses-pro-arms/ses-pro-900-6-dof-arm/WebHome/SES-P-A-900-6DOF-01.png" width="350"/}}
2 2  
3 -[[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-550mm-5dof-modular-robotic-arm-kit||rel="noopener noreferrer" target="_blank"]][[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-550mm-5dof-modular-robotic-arm-assembled||rel="noopener noreferrer" target="_blank"]]
3 +[[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-900mm-6dof-modular-robotic-arm-kit||rel="noopener noreferrer" target="_blank"]][[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-900mm-6dof-modular-robotic-arm-assembled||rel="noopener noreferrer" target="_blank"]]
4 4  
5 5  **Table of Contents**
6 6  
... ... @@ -35,34 +35,40 @@
35 35  
36 36  **General**
37 37  
38 +* Horizontal Reach: 900mm
39 +* Vertical Reach: 1007mm
38 38  * Degrees of Freedom (DoF): 6
39 39  * Payload: 3Kg (no gripper)
40 -* Max speed (cartesian):
41 41  * Collision detection: No
42 -* ROS 2: Coming soon
43 43  
44 44  **Mechanical**
45 45  
46 -* Horizontal reach:
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-S1|(% style="text-align:center" %)Up to 80Nm|(% 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 +
51 51  **Electrical**
52 52  
53 -* Input voltage: 30V (nominal)
54 -* Max current: Coming soon
55 -* Wall adapter: 120V - 220V
56 -* Battery power alternative: 8 cell (8S)
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) 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 -* Motors: NEMA 14, 17 & 23
64 -* Gearing: Strain wave (aka “Harmonic drive”)
65 -* Safety: Emergency stop button & software stop
71 +
66 66  
67 67  
68 68  = User Guides =
... ... @@ -72,34 +72,63 @@
72 72  = CAD Files =
73 73  
74 74  * Simple Geometry
75 -**
81 +** [[attach:SES-P-A-900-6DOF-SG.zip]]
76 76  * Complete public version
77 -**
83 +** [[attach:SES-P-A-900-6DOF-Public.zip]]
78 78  * Drilling template for the mounting holes
79 79  ** [[SES-P-A-B-L - Drill Template v1.0.pdf>>attach:ses-pro.ses-pro-parts.ses-p-a-b-l-kt.WebHome@SES-P-A-B-L - Drill Template v1.0.pdf]]
80 80  
81 -= Dimensions =
82 -
83 -[[image:SES-P-A-900-6DOF-Dimensions.png||alt="lynxmotion-ses-pro-900mm-6dof-modular-robotic-arm-kit-dimensions.jpg" height="400" width="400"]]
84 -
85 85  = What's Included =
86 86  
87 -* 30V Power supply
88 -* Cables (USB, CAT5, Power)
89 -* Mounting hardware
89 +|=(% style="width: 125px;" %) PICTURE|= NAME / DESCRIPTION|=(% style="width: 55px; text-align: center;" %)Qty|=(% style="width: 150px;" %)Lynxmotion SKU|=(% style="width: 150px;" %)RobotShop SKU
90 +|[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-L1.png]]|(((
91 +Lynxmotion Smart Servo PRO Lite Modular Strain Wave Gear Actuator (LSS-P-L1)
92 +)))|(% style="text-align:center" %)2|[[LSS-P-L1>>doc:ses-pro.lss-pro.WebHome]]|(((
93 +[[RB-Lyn-1158>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-lite-modular-strain-wave-gear-actuator-lss-p-l1]]
94 +)))
95 +|[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-S1.png]]|(((
96 +Lynxmotion Smart Servo PRO Standard Modular Strain Wave Gear Actuator (LSS-P-S1)
90 90  
91 -(% style="max-width:750px" %)
92 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome]]**
93 -|(% style="text-align:center; width:125px" %)2x LSS-P-L1|(% style="text-align:center; width:125px" %)2x 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" %)
94 -|(% style="text-align:center" %)LSS-PRO Lite Actuator|(% style="text-align:center" %)LSS-PRO Standard Actuator|(% style="text-align:center" %)LSS-PRO Mega Actuator|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)
95 -|[[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"]]| | |
98 +
99 +)))|(% style="text-align:center" %)2|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|(((
100 +[[RB-Lyn-1159>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-strain-wave-gear-actuator-lss-p-s1]]
101 +)))
102 +|[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-M1.png]]|Lynxmotion Smart Servo PRO Mega Modular Strain Wave Gear Actuator (LSS-P-M1)|(% 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]]
103 +|[[image:[email protected]]]|(((
104 +Lynxmotion SES-PRO Arm Base Adaptation Plate
105 +)))|(% 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]]
106 +|[[image:[email protected]]]|Lynxmotion SES-PRO Base For Mega LSS-P Actuators|(% style="text-align:center" %)1|[[SES-P-A-B-L-KT>>path:/info/wiki/lynxmotion/view/ses-pro/ses-pro-parts/ses-p-a-b-l-kt/]]|[[RB-Lyn-1171>>url:https://ca.robotshop.com/products/lynxmotion-ses-pro-base-mega-lss-p-actuators]]
107 +|[[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]]
108 +|[[image:[email protected]]]|Lynxmotion SES-PRO 118mm x 70mm Carbon Fiber Tube|(% style="text-align:center" %)2|[[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]]
109 +|[[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
110 +(ask for price & availability)
111 +|[[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
112 +(ask for price & availability)
113 +|[[image:[email protected]]]|Lynxmotion SES-PRO LSS-P-M1 Output Shaft Cover Kit|(% style="text-align:center" %)1|[[SES-P-M1-SC-KT>>path:/info/wiki/lynxmotion/view/ses-pro/ses-pro-parts/ses-p-sc-kt/]]|RB-Lyn-1191
114 +(ask for price & availability)
115 +|[[image:[email protected]||alt="SES-P-A-S-123-NOR.png"]]|Lynxmotion SES-PRO 285.5mm Normal Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|[[SES-P-A-S-285.5-NOR>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-10
116 +(ask for price & availability)
117 +|[[image:[email protected]]]|Lynxmotion SES-PRO 314.5mm Extended Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|[[SES-P-A-S-314.5-EXT>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-07
118 +(ask for price & availability)
119 +|[[image:[email protected]]]|Lynxmotion SES-PRO 25mm Normal Tube Sleeve wo/ Lynxmotion Logo|(% style="text-align:center" %)3|[[SES-P-A-S-26-NOR>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-06
120 +(ask for price & availability)
121 +|[[image:[email protected]]]|Lynxmotion SES-PRO 34mm Normal Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|[[SES-P-A-S-34-NOR>>path:/info/wiki/lynxmotion/view/ses-pro/ses-pro-parts/ses-p-a-s/]]|RB-2ne-09
122 +(ask for price & availability)
123 +|[[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
124 +(ask for price & availability)
125 +|[[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
126 +(ask for price & availability)
127 +|[[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
128 +(ask for price & availability)
96 96  
97 -(% style="max-width:750px" %)
98 -|(% colspan="6" %)**[[Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
99 -|(% style="text-align:center; width:125px" %)4x HUB-24|(% style="text-align:center; width:125px" %)2x CF-70x67-280.5|(% style="text-align:center; width:125px" %)1x SES-P-A-B-S|(% style="text-align:center; width:125px" %) |(% style="text-align:center; width:125px" %) |(% style="text-align:center" %)
100 -|(% style="text-align:center" %)70mm Tube Clamp|(% style="text-align:center" %)280.5mm Carbon Fiber Tube|(% style="text-align:center" %)PRO Base for LSS-P Standard or Lite|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)
101 -|[[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@HUB-25.png]]| | |
130 +(% style="position: absolute; left: 752px; top: 257px; width: 1px; height: 1px; overflow: hidden;" %)
131 +(((
132 +(% style="background-color:#ffffff; width:1843px" %)
133 +|=(% style="line-height: 1.42857;" %)NAME / DESCRIPTION
134 +)))
102 102  
103 -= What’s Needed =
136 += What’s Needed / Suggested =
104 104  
105 -* Gripper (Lynxmotion Pro gripper suggested & Coming Soon)
138 +|(% style="width:125px" %)**PICTURE**|**NAME / DESCRIPTION**|(% style="width:150px" %)**Lynxmotion SKU**|(% style="width:150px" %)**RobotShop SKU**
139 +|[[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]]
140 +|[[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]]
SES-P-A-900-6DOF-Public.zip
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