SES-V2 - mechDOG Quadruped
Table of Contents
Description
Lynxmotion's mechDOG was created as a collaboration with Mech-Dickel Robotics (YouTube Channel) to create a four-legged (quadruped / quadrapod) robot with similar degrees of freedom to a mammal. ST1 modular servos are used throughout, along with a variety of Lynxmotion Servo Erector Set (SES) V2 brackets. The body plates are made of composite G10 and the body side panels are anodized aluminum. The LSS Adapter acts to split battery power to each leg, and can be used with either an Arduino shield-compatible microcontroller or single board computer (SBC) like the Raspberry Pi. The internal compartment can be quickly accessed using thumbscrews at the top. There are mounting points at the top for accessories like YDLidar's 360 degree laser scanner or other SES V2 brackets. The size of the robot and built-in functionality of the smart servos make it ideally suited as an inexpensive development platform onto which a variety of sensors can be mounted and used for autonomous behaviors, navigation and more.
Official Community Forum:
Features
- 12x fully configurable modular smart servo motors
- Built-in safety features (over current, temperature, voltage)
- Modular aluminum brackets
- Compatible with Lynxmotion Servo Erector Set electronics
- Easy to understand and human readable LSS communication protocol
- Mounting for IR and ultrasonic sensors is included.
Specifications
- 3 Degrees of Freedom (DoF) per leg: hip; shoulder; knee
- Body / chassis length: 191.10mm / 11.461"
- Body / chassis height: 53.80mm / 2.118"
- Suggested standing height (to top of chassis): ~ 130mm / 5.125"
- Suggested battery: 11.1V (3S) LiPo capable of at least 5A continuous discharge
- Mounting plates for: LSS, SES, Sharp, PING
- Weight: ~ 1.65kg / 3.64lbs
User Guide
| mechDOG KIT steps:
mechDOG Optional Electronics: mechDOG Custom Parts |
Actuators
| Location | Type | Static Torque | Max Speed |
| All | ST1 | 14Kg-cm | 360° /s |
Note that when operated at lower voltages, torque and speed are reduced. | |||
Dimensions
What's Included
| Smart Servos (LSS) | Modules | Wiring | Gearing & Horns | ||
| 12x LSS-ST1 | 1x LSS-ADA | 4x CC-01 | 4x LSS-C-150Y | 8x LSS-IH | |
| LSS Standard | LSS Adapter | Cable Clip | 150mm Y Cable | Idler Horn | |
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| Brackets (SES) | |||||
| 4x ASB-28 | 4x ASB-30 | 4x ASB-33 | 4x ASB-37 | 8x ASB-39 | 6x GPAB-01 |
| LSS Single | LSS Double | LSS Gearbox | Angle C Bracket | Short C Bracket | Side Bracket |
 |  |  |  |  |  |
| Screws | Nuts | ||||
| 252x PHS-02 | 2x PHS-09 | 12x PHS-16 | 8x PHS-20 | 8x TB-S-01 | 6x SN-02 |
| 2-56 x 1/4" | 2-56 x 3/8" | M3 x 10mm | M3 x 8mm | M3 Thumb Screw | 2-56 Nut |
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| Tubing & Hubs | Standoffs | Miscellaneous | |||
| 4x HUB-22 | 4x AHS-17-BA | 1x VCS-09 | 1x ID-1-50 | ||
| ID Sticker 1 to 50 | |||||
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| mechDOG Custom Parts | |||||
| 4x mechDOG-F-01 | 4x mechDOG-F-02 | 6x mechDOG-F-03 | 2x mechDOG-F-04 | 2x mechDOG-F-05 | 2x mechDOG-F-06 |
| U Shape Frame | Frame Brace | Blank Plate | SES Plate | LSS Plate | PING Plate |
 |  |  |  |  |  |
| 2x mechDOG-F-07 | mechDOG-F-T | mechDOG-F-B | mechDOG-J-A | mechDOG-J-B | mechDOG-J-C |
| Sharp Plate | Frame Top | Frame Bottom | Jig part A | Jig part B | Jig part C |
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| 4x mechDOG-Foot | 4x mechDOG-Sock | ||||
| Foot | TPU Sock | ||||
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