Last modified by Eric Nantel on 2025/05/26 07:33
From version < 51.1 >
edited by Coleman Benson
on 2024/10/08 12:04
To version < 38.1 >
edited by Eric Nantel
on 2024/07/17 12:20
< >
Change comment: There is no comment for this version

Summary

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Author
... ... @@ -1,1 +1,1 @@
1 -xwiki:XWiki.CBenson
1 +xwiki:XWiki.ENantel
Content
... ... @@ -35,40 +35,34 @@
35 35  
36 36  **General**
37 37  
38 -* Horizontal Reach: 900mm
39 -* Vertical Reach: 1007mm
40 40  * Degrees of Freedom (DoF): 6
41 41  * Payload: 3Kg (no gripper)
40 +* Max speed (cartesian):
42 42  * Collision detection: No
42 +* ROS 2: Coming soon
43 43  
44 44  **Mechanical**
45 45  
46 -* Motors: Stepper (NEMA 34, 23, 17)
47 -* Gearing: 100:1 Steel strain wave (aka “Harmonic drive”)
46 +* Horizontal reach:
47 +* Vertical reach:
48 +* Tubing material: carbon fiber
49 +* Joint material: machined aluminum
48 48  
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 -
58 58  **Electrical**
59 59  
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)
53 +* Input voltage: 30V (nominal)
54 +* Max current: Coming soon
55 +* Wall adapter: 120V - 220V
56 +* Battery power alternative: 8 cell (8S)
64 64  * Wiring: external
65 65  
66 66  **Communication**
67 67  
68 -* Communication method between servos: CAN Bus (custom)
69 -* Communication method to first servo: USB (USB 3 suggested)
61 +* Communication method: CAN Bus
70 70  * Communication protocol: LSS-P (human readable)
71 -
63 +* Motors: NEMA 14, 17 & 23
64 +* Gearing: Strain wave (aka “Harmonic drive”)
65 +* Safety: Emergency stop button & software stop
72 72  
73 73  
74 74  = User Guides =
... ... @@ -78,63 +78,34 @@
78 78  = CAD Files =
79 79  
80 80  * Simple Geometry
81 -** [[attach:SES-P-A-900-6DOF-SG.zip]]
75 +**
82 82  * Complete public version
83 -** [[attach:SES-P-A-900-6DOF-Public.zip]]
77 +**
84 84  * Drilling template for the mounting holes
85 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 86  
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 +
87 87  = What's Included =
88 88  
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)
87 +* 30V Power supply
88 +* Cables (USB, CAT5, Power)
89 +* Mounting hardware
97 97  
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)
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"]]| | |
129 129  
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 -)))
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]]| | |
135 135  
136 -= What’s Needed / Suggested =
103 += What’s Needed =
137 137  
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]]
105 +* Gripper (Lynxmotion Pro gripper suggested & Coming Soon)
SES-P-A-900-6DOF-Public.zip
Author
... ... @@ -1,1 +1,0 @@
1 -xwiki:XWiki.ENantel
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