Wiki source code of SES-V2 - mechDOG Quadruped

Last modified by Eric Nantel on 2023/02/21 12:08
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Eric Nantel 30.1 1 {{lightbox image="SESV2-mechDOG.PNG" width="350"/}}
Eric Nantel 1.1 2
Eric Nantel 49.1 3 [[[[image:[email protected]]]>>https://www.robotshop.com/search?options%5Bprefix%5D=last&options%5Bunavailable_products%5D=last&pf_t_shop_by_category=category%3ALynxmotion+Quadruped&q=mechdog&type=product||rel="noopener noreferrer" target="_blank"]]
Eric Nantel 1.1 4
5 **Table of Contents**
6
7 {{toc/}}
8
9 = Description =
10
Eric Nantel 47.1 11 Lynxmotion's mechDOG was created as a collaboration with Mech-Dickel Robotics ([[YouTube Channel>>https://www.youtube.com/mechdickel]]) 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.
Eric Nantel 1.1 12
Eric Nantel 48.1 13 **Official Community Forum:**
14
Eric Nantel 49.1 15 * [[Lynxmotion SES V2 mechDOG Quadrapod Robot>>https://community.robotshop.com/forum/t/lynxmotion-ses-v2-mechdog-quadrapod-robot/78217]]
Eric Nantel 48.1 16
Eric Nantel 1.1 17 = Features =
18
Coleman Benson 19.2 19 * 12x fully configurable modular smart servo motors
20 * Built-in safety features (over current, temperature, voltage)
21 * Modular aluminum brackets
22 * Compatible with Lynxmotion Servo Erector Set electronics
23 * Easy to understand and human readable LSS communication protocol
Coleman Benson 22.2 24 * Mounting for IR and ultrasonic sensors is included.
Eric Nantel 1.1 25
26 = Specifications =
27
Coleman Benson 20.2 28 * 3 Degrees of Freedom (DoF) per leg: hip; shoulder; knee
Eric Nantel 39.1 29 * Body / chassis length: 191.10mm / 11.461"
Eric Nantel 41.1 30 * Body / chassis height: 53.80mm / 2.118"
31 * Suggested standing height (to top of chassis): ~~ 130mm / 5.125"
Coleman Benson 20.2 32 * Suggested battery: 11.1V (3S) LiPo capable of at least 5A continuous discharge
Eric Nantel 41.1 33 * Mounting plates for: LSS,  SES, Sharp, PING
Eric Nantel 42.1 34 * Weight: ~~ 1.65kg / 3.64lbs
Eric Nantel 1.1 35
Eric Nantel 43.1 36 = User Guide =
Eric Nantel 1.1 37
Eric Nantel 50.1 38 {{include context="NEW" reference="ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.WebHome"/}}
Eric Nantel 1.1 39
40 = Actuators =
41
42 (% style="width:350px" %)
43 |**Location**|**Type**|**Static Torque**|**Max Speed**
Eric Nantel 4.1 44 |All|ST1|14Kg-cm|360° /s
Eric Nantel 1.1 45 |(% colspan="4" %)(((
46 **Note that when operated at lower voltages, torque and speed are reduced.**
47 )))
48
49 = Dimensions =
50
Eric Nantel 38.1 51 {{lightbox image="SESV2-mechDOG-Dimensions.jpg" width="800"/}}
Eric Nantel 1.1 52
Eric Nantel 45.1 53 {{lightbox image="mechDOG-Stick.PNG" height="300"/}}
54
Eric Nantel 1.1 55 = What's Included =
56
57 (% style="max-width:750px" %)
Eric Nantel 34.4 58 |(% style="width:125px" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**|(% style="width:125px" %)**[[doc:servo-erector-set-system.ses-electronics.ses-modules.WebHome]]**|(% colspan="2" rowspan="1" style="width:125px" %)**[[doc:servo-erector-set-system.ses-electronics.ses-wiring.WebHome]]**|(% style="width:125px" %)**[[Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]**|
59 |(% style="width:125px" %)12x LSS-ST1|(% style="width:125px" %)1x LSS-ADA|(% style="width:125px" %)4x CC-01|(% style="width:125px" %)4x LSS-C-150Y|(% style="width:125px" %)8x LSS-IH|
60 |LSS Standard|LSS Adapter|Cable Clip|150mm Y Cable|Idler Horn|
Eric Nantel 36.1 61 |[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-HORNS.PNG||alt="LSS-ST1.png"]]|[[image:servo-erector-set-system.ses-electronics.ses-modules.lss-adapter-board-type-c.WebHome@LSS-ADA-V1.2.PNG||alt="LSS-ADA-V1.2"]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@CC-01.PNG]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@LSS-C-100Y.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome@LSS-IH.png]]|
Eric Nantel 34.2 62 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
Eric Nantel 36.1 63 |4x ASB-28|4x ASB-30|4x ASB-33|4x ASB-37|8x ASB-39|6x GPAB-01
Eric Nantel 33.4 64 |LSS Single|LSS Double|LSS Gearbox|Angle C Bracket|Short C Bracket|Side Bracket
Eric Nantel 33.3 65 |[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-28.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-30.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-33.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-37.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-39.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@GPAB-01.jpg]]
Eric Nantel 34.3 66 |(% colspan="5" rowspan="1" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-screws.WebHome]]**|**[[doc:servo-erector-set-system.ses-mechanics.ses-nuts.WebHome]]**
67 |252x PHS-02|2x PHS-09|12x PHS-16|8x PHS-20|8x TB-S-01|6x SN-02
68 |2-56 x 1/4"|2-56 x 3/8"|M3 x 10mm|M3 x 8mm|M3 Thumb Screw|2-56 Nut
69 |[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-02.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-09.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-16.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-20.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@TB-S-01.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-nuts.WebHome@SN-02.png]]
Eric Nantel 34.6 70 |**[[Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**|**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**|(% colspan="2" rowspan="1" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome]]**| |
71 |4x HUB-22|4x AHS-17-BA|1x VCS-09|1x ID-1-50| |
72 | | | |ID Sticker 1 to 50| |
73 |[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@HUB-22.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome@AHS-17.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@VCS-09.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@LSS - IDs Sticker Sheet.PNG]]| |
Eric Nantel 54.1 74 |(% colspan="6" %)**[[mechDOG Custom Parts>>doc:.mechdog-quickstart.mechdog-parts.WebHome]]**
Eric Nantel 33.1 75 |4x mechDOG-F-01|4x mechDOG-F-02|6x mechDOG-F-03|2x mechDOG-F-04|2x mechDOG-F-05|2x mechDOG-F-06
76 |U Shape Frame|Frame Brace|Blank Plate|SES Plate|LSS Plate|PING Plate
Eric Nantel 53.1 77 |[[image:ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts..WebHome@mechDOG-F-01.PNG||alt="mechDOG-F-01"]]|[[image:ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts..WebHome@mechDOG-F-02.PNG||alt="mechDOG-F-02"]]|[[image:ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts..WebHome@mechDOG-F-03.PNG||alt="mechDOG-F-03"]]|[[image:ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts..WebHome@mechDOG-F-04.PNG||alt="mechDOG-F-04"]]|[[image:ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts..WebHome@mechDOG-F-05.PNG||alt="mechDOG-F-05"]]|[[image:ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts..WebHome@mechDOG-F-06.PNG||alt="mechDOG-F-06"]]
Eric Nantel 33.1 78 |2x mechDOG-F-07|mechDOG-F-T|mechDOG-F-B|mechDOG-J-A|mechDOG-J-B|mechDOG-J-C
79 |Sharp Plate|Frame Top|Frame Bottom|Jig part A|Jig part B|Jig part C
Eric Nantel 53.1 80 |[[image:ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts..WebHome@mechDOG-F-07.PNG||alt="mechDOG-F-07"]]|[[image:ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts..WebHome@mechDOG-F-T.PNG||alt="mechDOG-F-T"]]|[[image:ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts..WebHome@mechDOG-F-B.PNG||alt="mechDOG-F-B"]]|[[image:ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts..WebHome@mechDOG-J-A.PNG||alt="mechDOG-J-A"]]|[[image:ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts..WebHome@mechDOG-J-B.PNG||alt="mechDOG-J-B"]]|[[image:ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts..WebHome@mechDOG-J-C.PNG||alt="mechDOG-J-C"]]
Eric Nantel 32.3 81 |4x mechDOG-Foot|4x mechDOG-Sock| | | |
82 |Foot|TPU Sock| | | |
Eric Nantel 53.1 83 |[[image:ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts..WebHome@mechDOG-Foot.PNG||alt="mechDOG-Foot"]]|[[image:ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts..WebHome@mechDOG-Sock.PNG||alt="mechDOG-Sock"]]| | | |

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