Last modified by Eric Nantel on 2025/05/26 07:33
From version < 52.1 >
edited by Eric Nantel
on 2024/10/21 14:26
To version < 41.1 >
edited by Eric Nantel
on 2024/07/17 12:56
< >
Change comment: There is no comment for this version

Summary

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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)
63 +* Motors: NEMA 14, 17 & 23
64 +* Gearing: Strain wave (aka “Harmonic drive”)
65 +* Safety: Emergency stop button & software stop
66 +
71 71  
72 -= Media =
73 -
74 -{{video url="https://youtu.be/DVyN6WXXhSk?si=4_08X5fvJwUvHTl3" width="700"/}}
75 -
76 76  = User Guides =
77 77  
78 78  {{include context="NEW" reference="ses-pro.ses-pro-arms.ses-pro-900-6-dof-arm.ses-pro-900-6-dof-arm-guides.WebHome"/}}
79 79  
80 -= CAD Files =
81 -
82 -* Simple Geometry
83 -** [[attach:SES-P-A-900-6DOF-SG.zip]]
84 -* Complete public version
85 -** [[attach:SES-P-A-900-6DOF-Public.zip]]
86 -* Drilling template for the mounting holes
87 -** [[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]]
88 -
89 89  = What's Included =
90 90  
91 91  |=(% style="width: 125px;" %) PICTURE|= NAME / DESCRIPTION|=(% style="width: 55px; text-align: center;" %)Qty|=(% style="width: 150px;" %)Lynxmotion SKU|=(% style="width: 150px;" %)RobotShop SKU
92 92  |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-L1.png]]|(((
93 93  Lynxmotion Smart Servo PRO Lite Modular Strain Wave Gear Actuator (LSS-P-L1)
94 -)))|(% style="text-align:center" %)2|[[LSS-P-L1>>doc:ses-pro.lss-pro.WebHome]]|(((
77 +)))|(% style="text-align:center" %)3|[[LSS-P-L1>>doc:ses-pro.lss-pro.WebHome]]|(((
95 95  [[RB-Lyn-1158>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-lite-modular-strain-wave-gear-actuator-lss-p-l1]]
96 96  )))
97 97  |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-S1.png]]|(((
... ... @@ -98,7 +98,7 @@
98 98  Lynxmotion Smart Servo PRO Standard Modular Strain Wave Gear Actuator (LSS-P-S1)
99 99  
100 100  
101 -)))|(% style="text-align:center" %)2|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|(((
84 +)))|(% style="text-align:center" %)3|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|(((
102 102  [[RB-Lyn-1159>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-strain-wave-gear-actuator-lss-p-s1]]
103 103  )))
104 104  |[[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]]
... ... @@ -118,7 +118,7 @@
118 118  (ask for price & availability)
119 119  |[[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
120 120  (ask for price & availability)
121 -|[[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
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
122 122  (ask for price & availability)
123 123  |[[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
124 124  (ask for price & availability)
... ... @@ -138,5 +138,5 @@
138 138  = What’s Needed / Suggested =
139 139  
140 140  |(% style="width:125px" %)**PICTURE**|**NAME / DESCRIPTION**|(% style="width:150px" %)**Lynxmotion SKU**|(% style="width:150px" %)**RobotShop SKU**
141 -|[[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]]
142 -|[[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]]
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]]
SES-P-A-900-6DOF-Public.zip
Author
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1 -xwiki:XWiki.ENantel
Size
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1 -3.7 MB
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