Last modified by Eric Nantel on 2025/05/26 07:33
From version < 41.1 >
edited by Eric Nantel
on 2024/07/17 12:56
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
Content
... ... @@ -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 =
... ... @@ -69,12 +69,21 @@
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  
78 += CAD Files =
79 +
80 +* Simple Geometry
81 +** [[attach:SES-P-A-900-6DOF-SG.zip]]
82 +* Complete public version
83 +** [[attach:SES-P-A-900-6DOF-Public.zip]]
84 +* Drilling template for the mounting holes
85 +** [[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]]
86 +
72 72  = What's Included =
73 73  
74 74  |=(% style="width: 125px;" %) PICTURE|= NAME / DESCRIPTION|=(% style="width: 55px; text-align: center;" %)Qty|=(% style="width: 150px;" %)Lynxmotion SKU|=(% style="width: 150px;" %)RobotShop SKU
75 75  |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-L1.png]]|(((
76 76  Lynxmotion Smart Servo PRO Lite Modular Strain Wave Gear Actuator (LSS-P-L1)
77 -)))|(% style="text-align:center" %)3|[[LSS-P-L1>>doc:ses-pro.lss-pro.WebHome]]|(((
92 +)))|(% style="text-align:center" %)2|[[LSS-P-L1>>doc:ses-pro.lss-pro.WebHome]]|(((
78 78  [[RB-Lyn-1158>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-lite-modular-strain-wave-gear-actuator-lss-p-l1]]
79 79  )))
80 80  |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-S1.png]]|(((
... ... @@ -81,7 +81,7 @@
81 81  Lynxmotion Smart Servo PRO Standard Modular Strain Wave Gear Actuator (LSS-P-S1)
82 82  
83 83  
84 -)))|(% style="text-align:center" %)3|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|(((
99 +)))|(% style="text-align:center" %)2|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|(((
85 85  [[RB-Lyn-1159>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-strain-wave-gear-actuator-lss-p-s1]]
86 86  )))
87 87  |[[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]]
... ... @@ -101,7 +101,7 @@
101 101  (ask for price & availability)
102 102  |[[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
103 103  (ask for price & availability)
104 -|[[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
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
105 105  (ask for price & availability)
106 106  |[[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
107 107  (ask for price & availability)
... ... @@ -121,5 +121,5 @@
121 121  = What’s Needed / Suggested =
122 122  
123 123  |(% style="width:125px" %)**PICTURE**|**NAME / DESCRIPTION**|(% style="width:150px" %)**Lynxmotion SKU**|(% style="width:150px" %)**RobotShop SKU**
124 -|[[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
125 -|[[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]]
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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1 +xwiki:XWiki.ENantel
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