Changes for page SES-V2 - mechDOG Quadruped
Last modified by Eric Nantel on 2024/07/03 09:38
Change comment: Renamed back-links.
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... ... @@ -1,1 +1,1 @@ 1 -SES 1 +SES-V2 - mechDOG Quadruped - Parent
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... ... @@ -1,1 +1,1 @@ 1 -se rvo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.WebHome1 +ses-v2.ses-v2-legged.WebHome - Content
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... ... @@ -1,6 +1,6 @@ 1 -{{lightbox image="SESV2- LSS-ARTICULATED-ARM.png" width="350"/}}1 +{{lightbox image="SESV2-mechDOG.PNG" width="350"/}} 2 2 3 -[[[[image:[email protected] ||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-smart-servos-articulated-arm.html||rel="noopener noreferrer" target="_blank"]]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"]] 4 4 5 5 **Table of Contents** 6 6 ... ... @@ -8,61 +8,40 @@ 8 8 9 9 = Description = 10 10 11 -Lynxmotion ’s6thgenerationarticulated roboticarmisintended as ahobby/scaleversionofanindustrial robotic arm andisdesignedaroundthe fullyconfigurableLynxmotionSmartServootors andLynxmotionServoErectorSet(SESv2)modularconstructionsystem.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. 12 12 13 -(% style="width:600px" %) 14 -|(% style="text-align:center; width:300px" %)**With Shells**|(% style="text-align:center; width:300px" %)**Without Shells** 15 -|(% colspan="2" style="width:350px" %){{lightbox image="SESV2-LSS-ARTICULATED-ARM-FaceToFace.png"/}} 13 +**Official Community Forum:** 16 16 17 - Thisversatile setup facilitates customizationandexpansionforplicationsthroughthe useof additionalbrackets, electronics, sensors andmore, and adding additional degreesof freedomorchanging the gripper is straightforward.15 +* [[Lynxmotion SES V2 mechDOG Quadrapod Robot>>https://community.robotshop.com/forum/t/lynxmotion-ses-v2-mechdog-quadrapod-robot/78217]] 18 18 19 -Although well suited for use on a desk for development and experimentation, the arm can be easily fitted on a mobile robot and powered using a 3S (11.1V) LiPo battery (sold separately) with XT60 connector. The included LSS Adapter electronics board makes connecting to an Arduino shield compatible board, Raspberry Pi, XBee or other serial device easy. 20 - 21 -{{lightbox image="SESV2-LSS-ARTICULATED-ARM-A4WD.png" title="LSS Articulated Arm on A4WD Platform" width="400"/}} 22 - 23 -CAD design files, as well as examples using Arduino and Python are available so that students and hobbyists can integrate the arm into their projects. The graphical user interface LSS FlowArm, created using FlowBotics Studio, makes recording and playing back sequences effortless. 24 - 25 -{{lightbox image="SESV2-LSS-ARTICULATED-ARM-FlowArm.jpg" title="LSS FlowArm Software" width="400"/}} 26 - 27 -Wiki page for [[doc:servo-erector-set-system.ses-software.lss-flowarm.WebHome]] 28 - 29 -The Lynxmotion smart servo motors were designed and optimized for articulated robotic joints and ease of use. The custom LSS communication protocol is human readable, uses full duplex (dedicated Tx and Rx lines) and selectable baud rates. Optimize the motion by changing the properties of each servo; anything from setting a maximum speed or angular range to the angular acceleration, holding stiffness and more. Each servo can be queried for a wide variety of real-time values or configured settings, including sensor feedback from the absolute encoder (position, speed and more), current, voltage and temperature. 30 - 31 31 = Features = 32 32 33 -* 5x fully configurable modular smart servo motors 34 -* Modular aluminum brackets, carbon fiber tubing and more 35 -* V-style gripper opens from 0 to 180 degrees 36 -* Compatible with Lynxmotion Servo Erector Set electronics 37 -* Create sequences using handheld teach mode, coordinates, virtual arm 19 +* 12x fully configurable modular smart servo motors 38 38 * Built-in safety features (over current, temperature, voltage) 21 +* Modular aluminum brackets 22 +* Compatible with Lynxmotion Servo Erector Set electronics 39 39 * Easy to understand and human readable LSS communication protocol 24 +* Mounting for IR and ultrasonic sensors is included. 40 40 41 41 = Specifications = 42 42 43 -* Axes:4 degrees offreedom+1(gripper)44 -* Max HorizontalReach: 15.910"/404.12mm45 -* MaxVerticalReach:19.899" / 505.44mm46 -* Payload:100g (maxreach)*47 -* PowerSupplyIn: 110Vto240VAC50/60Hz AC (UStype Aplug)48 -* Power Supply Out:12V,6A DC withXT60 connector49 -* Weight: 1. 43pounds/0.650 Kg28 +* 3 Degrees of Freedom (DoF) per leg: hip; shoulder; knee 29 +* Body / chassis length: 191.10mm / 11.461" 30 +* Body / chassis height: 53.80mm / 2.118" 31 +* Suggested standing height (to top of chassis): ~~ 130mm / 5.125" 32 +* Suggested battery: 11.1V (3S) LiPo capable of at least 5A continuous discharge 33 +* Mounting plates for: LSS, SES, Sharp, PING 34 +* Weight: ~~ 1.65kg / 3.64lbs 50 50 51 - ~*Note that if holding 100g at full reach, theshoulderand elbow servos will heatup rapidly. Payload increasescloser to the base.36 += User Guide = 52 52 53 -= QuickstartGuide/ Assembly =38 +{{include context="NEW" reference="ses-v2.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.WebHome"/}} 54 54 55 -{{include reference="servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-4dof-arm.4dof-arm-quickstart.WebHome" context="NEW"/}} 56 - 57 57 = Actuators = 58 58 59 59 (% style="width:350px" %) 60 60 |**Location**|**Type**|**Static Torque**|**Max Speed** 61 -|Base|ST1|14Kg-cm|360° /s 62 -|Shoulder|HT1|29Kg-cm|360° /s 63 -|Elbow|HT1|29Kg-cm|360° /s 64 -|Wrist|ST1|14Kg-cm|360° /s 65 -|Gripper|ST1|14Kg-cm|360° /s 44 +|All|ST1|14Kg-cm|360° /s 66 66 |(% colspan="4" %)((( 67 67 **Note that when operated at lower voltages, torque and speed are reduced.** 68 68 ))) ... ... @@ -69,40 +69,36 @@ 69 69 70 70 = Dimensions = 71 71 72 -{{lightbox image="SESV2- LSS-ARTICULATED-ARM-Enveloppe-Rev2.png" width="400"/}}51 +{{lightbox image="SESV2-mechDOG-Dimensions.jpg" width="800"/}} 73 73 53 +{{lightbox image="mechDOG-Stick.PNG" height="300"/}} 54 + 74 74 = What's Included = 75 75 76 76 (% style="max-width:750px" %) 77 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]** 78 -|3x LSS-ST1|2x LSS-HT1| | | | 79 -|LSS Standard|LSS High-Torque| | | | 80 -|[[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-servos.ses-lynxmotion-smart-servo.WebHome@LSS-HT1-Horns.PNG||alt="LSS-HT1.png"]]| | | | 81 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]** 82 -|1x LSS-ADA|2x LSS-C-300-S|12x CC-01|2x AHS-EC|1x 12V-XT60|1x USBC-02 83 -|LSS Adapter|300mm Cable|Cable Clip|Electronic Clip|12V w/ XT60|USB to Mini B 84 -|[[image:servo-erector-set-system.ses-electronics.ses-modules.lss-adapter-board.WebHome@LSS-ADA.png]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@LSS-C-100.png]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@CC-01.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@AHS-EC.PNG]]|[[image:servo-erector-set-system.ses-electronics.ses-wall-adapters.WebHome@BX-12006000-XT60.PNG]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@USBC-02.PNG]] 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| 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]]| 85 85 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]** 86 -|3x ASB-28|3x ASB-39|1x ASB-30|2x ASB-35|2x ASB-36|1x ASB-42 87 -|LSS Single Wide|Short C V2|LSS Double Wide|Gripper Main|Gripper Secondary|Gripper Foam 88 -|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-28.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-39.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-35.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-36.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-42.png]] 89 -|(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]** 90 -|1x SG-32T-D|1x SG-32T-I| | | | 91 -|32T Driving Gear|32T Idler Gear| | | | 92 -|[[image:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome@SG-32T-D.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome@SG-32T-I.png||alt="ASB-39.png"]]| | | | 93 -|(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]** 94 -|4x HUB-22|2x CF-16x14-75| | | | 95 -|16mm SES Clamp|75mm Carbon Tube| | | | 96 -|[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@HUB-22.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@CF-16x14-75.png]]| | | | 97 -|(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]** 98 -|58x PHS-02|19x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03 99 -|2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm 100 -|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-02.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-16.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@FHS-01.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@BB-05.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@DP-01.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@BB-03.png]] 101 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]** 102 -|5x AHS-19|4x AHS-20| | | | 103 -|M3 x 40mm|M3 x 18mm| | | | 104 -|[[image:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome@AHS-19.png||alt="PHS-02.png"]]|[[image:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome@AHS-20.png||alt="PHS-16.png"]]| | | | 105 -|(% colspan="6" style="width:125px" %)**[[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-parts.WebHome]]** 106 -|(% style="width:125px" %)1x - LSS-BR-T|(% style="width:125px" %)1x - LSS-BR-M1|(% style="width:125px" %)1x - LSS-BR-M2|(% style="width:125px" %)1x - LSS-BR-B|(% style="width:125px" %) |(% style="width:125px" %) 107 -|(% style="width:125px" %)Top Plate|(% style="width:125px" %)Middle Plate 1|(% style="width:125px" %)Middle Plate 2 |(% style="width:125px" %)Bottom Plate|(% style="width:125px" %) |(% style="width:125px" %) 108 -|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Top.PNG]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Middle-01.PNG]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Middle-02.PNG]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Bottom.PNG]]| | 63 +|4x ASB-28|4x ASB-30|4x ASB-33|4x ASB-37|8x ASB-39|6x GPAB-01 64 +|LSS Single|LSS Double|LSS Gearbox|Angle C Bracket|Short C Bracket|Side Bracket 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]] 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]] 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]]| | 74 +|(% colspan="6" %)**[[mechDOG Custom Parts>>doc:ses-v2.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome]]** 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 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"]] 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 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"]] 81 +|4x mechDOG-Foot|4x mechDOG-Sock| | | | 82 +|Foot|TPU Sock| | | | 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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