Changes for page SES-V2 - mechDOG Quadruped
Last modified by Eric Nantel on 2024/07/03 09:38
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... ... @@ -1,6 +1,6 @@ 1 -{{lightbox image="SESV2- mechDOG.PNG" width="350"/}}1 +{{lightbox image="SESV2-LSS-ARTICULATED-ARM.png" width="350"/}} 2 2 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"]]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"]] 4 4 5 5 **Table of Contents** 6 6 ... ... @@ -8,40 +8,61 @@ 8 8 9 9 = Description = 10 10 11 -Lynxmotion 'smechDOGwas created as a collaborationwith Mech-Dickel Robotics ([[YouTube Channel>>https://www.youtube.com/mechdickel]]) to createa four-legged(quadruped / quadrapod) robotwithsimilardegrees of freedomto a mammal. ST1 modularservosare used throughout, along with a variety of Lynxmotion Servo Erector Set (SES) V2 brackets. The bodyplates are madeof composite G10 and the bodysidepanelsre anodized aluminum. TheLSS Adapteractsto split battery powertoeach leg, andcan be used with either anArduinoshield-compatiblemicrocontroller or single boardcomputer(SBC) like the Raspberry Pi. The internal compartmentcanbe quicklyaccessed usingthumbscrewsat the top. There are mountingpoints at thetopfor accessorieslike YDLidar's 360 degreelaserscanneror other SES V2 brackets. The size oftherobotandbuilt-infunctionalityof the smartservos makeitideallysuitedas aninexpensive developmentplatformontowhich a varietyofsensorscanbemountedandused forautonomousbehaviors, navigationand more.11 +Lynxmotion’s 6th generation articulated robotic arm is intended as a hobby / scale version of an industrial robotic arm and is designed around the fully configurable Lynxmotion Smart Servo motors and Lynxmotion Servo Erector Set (SES v2) modular construction system. 12 12 13 -**Official Community Forum:** 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"/}} 14 14 15 - *[[LynxmotionSES V2 mechDOGQuadrapodRobot>>https://community.robotshop.com/forum/t/lynxmotion-ses-v2-mechdog-quadrapod-robot/78217]]17 +This versatile setup facilitates customization and expansion for applications through the use of additional brackets, electronics, sensors and more, and adding additional degrees of freedom or changing the gripper is straightforward. 16 16 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 + 17 17 = Features = 18 18 19 -* 12x20 -* Built-insafetyfeatures (overcurrent,temperature,voltage)21 -* Modularaluminumbrackets33 +* 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 22 22 * Compatible with Lynxmotion Servo Erector Set electronics 37 +* Create sequences using handheld teach mode, coordinates, virtual arm 38 +* Built-in safety features (over current, temperature, voltage) 23 23 * Easy to understand and human readable LSS communication protocol 24 -* Mounting for IR and ultrasonic sensors is included. 25 25 26 26 = Specifications = 27 27 28 -* 3Degrees ofFreedom(DoF)perleg: hip; shoulder; knee29 -* Body / chassislength: 191.10mm/11.461"30 -* Body/chassisheight:53.80mm/2.118"31 -* Suggested standingheight(totop ofchassis): ~~ 130mm / 5.125"32 -* Suggested battery: 11.1V(3S) LiPocapableofatleast5Acontinuous discharge33 -* Mountingplatesfor:LSS,SES,Sharp,PING34 -* Weight: ~~1.65kg/3.64lbs43 +* Axes: 4 degrees of freedom + 1 (gripper) 44 +* Max Horizontal Reach: 15.910" / 404.12mm 45 +* Max Vertical Reach: 19.899" / 505.44mm 46 +* Payload: 100g (max reach)* 47 +* Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug) 48 +* Power Supply Out: 12V, 6A DC with XT60 connector 49 +* Weight: 1.43 pounds / 0.650 Kg 35 35 36 - =UserGuide=51 +~* Note that if holding 100g at full reach, the shoulder and elbow servos will heat up rapidly. Payload increases closer to the base. 37 37 38 - {{include context="NEW"reference="ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.WebHome"/}}53 += Quickstart Guide / Assembly = 39 39 55 +{{include reference="servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-4dof-arm.4dof-arm-quickstart.WebHome" context="NEW"/}} 56 + 40 40 = Actuators = 41 41 42 42 (% style="width:350px" %) 43 43 |**Location**|**Type**|**Static Torque**|**Max Speed** 44 -|All|ST1|14Kg-cm|360° /s 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 45 45 |(% colspan="4" %)((( 46 46 **Note that when operated at lower voltages, torque and speed are reduced.** 47 47 ))) ... ... @@ -48,36 +48,40 @@ 48 48 49 49 = Dimensions = 50 50 51 -{{lightbox image="SESV2- mechDOG-Dimensions.jpg" width="800"/}}72 +{{lightbox image="SESV2-LSS-ARTICULATED-ARM-Enveloppe-Rev2.png" width="400"/}} 52 52 53 -{{lightbox image="mechDOG-Stick.PNG" height="300"/}} 54 - 55 55 = What's Included = 56 56 57 57 (% style="max-width:750px" %) 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]]| 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]] 62 62 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]** 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:.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"]]| | | | 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]]| |
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