Wiki source code of SES-P 900mm 6DoF Robotic Arm

Last modified by Eric Nantel on 2024/10/21 14:26
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Eric Nantel 35.1 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"/}}
Eric Nantel 4.1 2
Eric Nantel 38.1 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"]]
Eric Nantel 4.1 4
5 **Table of Contents**
6
7 {{toc/}}
8
9 = Description =
10
Eric Nantel 7.1 11 * Modular, customizable & reconfigurable semi-professional arm
12 * Easy to use with human readable communication protocol
13 * High accuracy and competitive payload capacity
14 * 900mm horizontal extension
15 * 3Kg payload and ±0.1 mm accuracy
16 * Gripper sold separately
17
18 The **Lynxmotion SES-PRO 900mm 6Dof Modular Robotic Arm** offers a payload of 3Kg at full extension with an accuracy of ±0.1 mm. Unlike purpose-built arms, this is designed to be modular and reconfigurable to suit the user’s application. Additional degrees of freedom can be added, and existing degrees of freedom can be reconfigured or removed. The design ensures there are no evident pinch points.
19
20 Incorporates six Lynxmotion Professional Smart Servo actuators
21
22 * Strain wave gearing
23 * NEMA Stepper motors
24 * Onboard electronics
25 ** Microcontroller
26 ** Motor controller
27 ** Voltage regulation
28 ** IMU (accel & gyro)
29 ** CAN communication
30 ** Absolute angular feedback
31 ** Human readable communication protocol
32 ** … more
33
Eric Nantel 4.1 34 = Specifications =
35
Eric Nantel 7.1 36 **General**
Eric Nantel 4.1 37
Coleman Benson 51.1 38 * Horizontal Reach: 900mm
39 * Vertical Reach: 1007mm
Eric Nantel 7.1 40 * Degrees of Freedom (DoF): 6
41 * Payload: 3Kg (no gripper)
42 * Collision detection: No
43
44 **Mechanical**
45
Coleman Benson 51.1 46 * Motors: Stepper (NEMA 34, 23, 17)
47 * Gearing: 100:1 Steel strain wave (aka “Harmonic drive”)
Eric Nantel 7.1 48
Eric Nantel 47.2 49 (% style="width:600px" %)
Coleman Benson 51.1 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°
Eric Nantel 47.2 57
Eric Nantel 7.1 58 **Electrical**
59
Coleman Benson 51.1 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)
Eric Nantel 7.1 64 * Wiring: external
65
66 **Communication**
67
Coleman Benson 51.1 68 * Communication method between servos: CAN Bus (custom)
69 * Communication method to first servo: USB (USB 3 suggested)
Eric Nantel 7.1 70 * Communication protocol: LSS-P (human readable)
Coleman Benson 51.1 71
Eric Nantel 52.1 72 = Media =
Eric Nantel 7.1 73
Eric Nantel 52.1 74 {{video url="https://youtu.be/DVyN6WXXhSk?si=4_08X5fvJwUvHTl3" width="700"/}}
75
Eric Nantel 31.1 76 = User Guides =
Eric Nantel 4.1 77
Eric Nantel 31.1 78 {{include context="NEW" reference="ses-pro.ses-pro-arms.ses-pro-900-6-dof-arm.ses-pro-900-6-dof-arm-guides.WebHome"/}}
Eric Nantel 4.1 79
Eric Nantel 43.1 80 = CAD Files =
81
82 * Simple Geometry
Eric Nantel 45.1 83 ** [[attach:SES-P-A-900-6DOF-SG.zip]]
Eric Nantel 43.1 84 * Complete public version
Eric Nantel 47.1 85 ** [[attach:SES-P-A-900-6DOF-Public.zip]]
Eric Nantel 43.1 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
Eric Nantel 4.1 89 = What's Included =
90
Eric Nantel 39.1 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 |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-L1.png]]|(((
93 Lynxmotion Smart Servo PRO Lite Modular Strain Wave Gear Actuator (LSS-P-L1)
Eric Nantel 42.1 94 )))|(% style="text-align:center" %)2|[[LSS-P-L1>>doc:ses-pro.lss-pro.WebHome]]|(((
Eric Nantel 39.1 95 [[RB-Lyn-1158>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-lite-modular-strain-wave-gear-actuator-lss-p-l1]]
96 )))
97 |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-S1.png]]|(((
98 Lynxmotion Smart Servo PRO Standard Modular Strain Wave Gear Actuator (LSS-P-S1)
Eric Nantel 6.1 99
Eric Nantel 39.1 100
Eric Nantel 42.1 101 )))|(% style="text-align:center" %)2|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|(((
Eric Nantel 39.1 102 [[RB-Lyn-1159>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-strain-wave-gear-actuator-lss-p-s1]]
103 )))
Eric Nantel 41.1 104 |[[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]]
Eric Nantel 39.1 105 |[[image:[email protected]]]|(((
106 Lynxmotion SES-PRO Arm Base Adaptation Plate
107 )))|(% 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]]
Eric Nantel 41.1 108 |[[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]]
Eric Nantel 39.1 109 |[[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]]
Eric Nantel 41.1 110 |[[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]]
111 |[[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
Eric Nantel 39.1 112 (ask for price & availability)
113 |[[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
114 (ask for price & availability)
Eric Nantel 41.1 115 |[[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
Eric Nantel 39.1 116 (ask for price & availability)
Eric Nantel 41.1 117 |[[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
Eric Nantel 39.1 118 (ask for price & availability)
Eric Nantel 41.1 119 |[[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
Eric Nantel 39.1 120 (ask for price & availability)
Eric Nantel 42.1 121 |[[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
Eric Nantel 41.1 122 (ask for price & availability)
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 (ask for price & availability)
Eric Nantel 39.1 125 |[[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
126 (ask for price & availability)
Eric Nantel 41.1 127 |[[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
Eric Nantel 39.1 128 (ask for price & availability)
Eric Nantel 41.1 129 |[[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
Eric Nantel 39.1 130 (ask for price & availability)
Eric Nantel 4.1 131
Eric Nantel 39.1 132 (% style="position: absolute; left: 752px; top: 257px; width: 1px; height: 1px; overflow: hidden;" %)
133 (((
134 (% style="background-color:#ffffff; width:1843px" %)
135 |=(% style="line-height: 1.42857;" %)NAME / DESCRIPTION
136 )))
Eric Nantel 6.1 137
Eric Nantel 39.1 138 = What’s Needed / Suggested =
Eric Nantel 6.1 139
Eric Nantel 39.1 140 |(% style="width:125px" %)**PICTURE**|**NAME / DESCRIPTION**|(% style="width:150px" %)**Lynxmotion SKU**|(% style="width:150px" %)**RobotShop SKU**
Eric Nantel 44.1 141 |[[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]]
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