Last modified by Eric Nantel on 2025/05/26 07:33
From version < 38.1 >
edited by Eric Nantel
on 2024/07/17 12:20
To version < 53.1
edited by Eric Nantel
on 2025/05/26 07:33
<
Change comment: There is no comment for this version

Summary

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Content
... ... @@ -35,71 +35,115 @@
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
66 -
67 67  
72 += Media =
73 +
74 +{{video url="https://youtu.be/DVyN6WXXhSk?si=4_08X5fvJwUvHTl3" width="700"/}}
75 +
68 68  = User Guides =
69 69  
70 70  {{include context="NEW" reference="ses-pro.ses-pro-arms.ses-pro-900-6-dof-arm.ses-pro-900-6-dof-arm-guides.WebHome"/}}
71 71  
72 -= CAD Files =
80 += ROS2 =
73 73  
82 +* [[SES-P-ROS2-Arms>>https://github.com/Lynxmotion/SES-P-ROS2-Arms]]
83 +* [[LSS-P-ROS2-Hardware>>https://github.com/Lynxmotion/LSS-P-ROS2-Hardware]]
84 +
85 +(% class="wikigeneratedid" %)
86 +
87 +CAD Files
88 +
74 74  * Simple Geometry
75 -**
90 +** [[attach:SES-P-A-900-6DOF-SG.zip]]
76 76  * Complete public version
77 -**
92 +** [[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
98 +|=(% style="width: 125px;" %) PICTURE|= NAME / DESCRIPTION|=(% style="width: 55px; text-align: center;" %)Qty|=(% style="width: 150px;" %)Lynxmotion SKU|=(% style="width: 150px;" %)RobotShop SKU
99 +|[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-L1.png]]|(((
100 +Lynxmotion Smart Servo PRO Lite Modular Strain Wave Gear Actuator (LSS-P-L1)
101 +)))|(% style="text-align:center" %)2|[[LSS-P-L1>>doc:ses-pro.lss-pro.WebHome]]|(((
102 +[[RB-Lyn-1158>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-lite-modular-strain-wave-gear-actuator-lss-p-l1]]
103 +)))
104 +|[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-S1.png]]|(((
105 +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"]]| | |
107 +
108 +)))|(% style="text-align:center" %)2|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|(((
109 +[[RB-Lyn-1159>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-strain-wave-gear-actuator-lss-p-s1]]
110 +)))
111 +|[[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]]
112 +|[[image:[email protected]]]|(((
113 +Lynxmotion SES-PRO Arm Base Adaptation Plate
114 +)))|(% 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]]
115 +|[[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]]
116 +|[[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]]
117 +|[[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]]
118 +|[[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
119 +(ask for price & availability)
120 +|[[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
121 +(ask for price & availability)
122 +|[[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
123 +(ask for price & availability)
124 +|[[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
125 +(ask for price & availability)
126 +|[[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
127 +(ask for price & availability)
128 +|[[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
129 +(ask for price & availability)
130 +|[[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
131 +(ask for price & availability)
132 +|[[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
133 +(ask for price & availability)
134 +|[[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
135 +(ask for price & availability)
136 +|[[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
137 +(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]]| | |
139 +(% style="position: absolute; left: 752px; top: 257px; width: 1px; height: 1px; overflow: hidden;" %)
140 +(((
141 +(% style="background-color:#ffffff; width:1843px" %)
142 +|=(% style="line-height: 1.42857;" %)NAME / DESCRIPTION
143 +)))
102 102  
103 -= What’s Needed =
145 += What’s Needed / Suggested =
104 104  
105 -* Gripper (Lynxmotion Pro gripper suggested & Coming Soon)
147 +|(% style="width:125px" %)**PICTURE**|**NAME / DESCRIPTION**|(% style="width:150px" %)**Lynxmotion SKU**|(% style="width:150px" %)**RobotShop SKU**
148 +|[[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]]
149 +|[[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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