Last modified by Eric Nantel on 2024/07/03 09:38
From version < 55.1 >
edited by Eric Nantel
on 2023/02/21 12:08
To version < 20.1 >
edited by Coleman Benson
on 2021/05/11 15:02
< >
Change comment: There is no comment for this version

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Title
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1 -SES-V2 - mechDOG Quadruped
1 +SES V2 - mechDOG
Parent
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1 -ses-v2-legged.WebHome
1 +servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.WebHome
Author
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1 -xwiki:XWiki.ENantel
1 +xwiki:XWiki.CBenson
Content
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1 -{{lightbox image="SESV2-mechDOG.PNG" width="350"/}}
1 +{{lightbox image="SESV2-mechDOG.jpg" width="350" __cke_selected_macro="true"/}}
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  
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8 8  
9 9  = Description =
10 10  
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.
11 +Lynxmotion's MechDog was created as a collaboration with MechDickel (RobotShop Community) to create a four-legged 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.
12 12  
13 -**Official Community Forum:**
14 -
15 -* [[Lynxmotion SES V2 mechDOG Quadrapod Robot>>https://community.robotshop.com/forum/t/lynxmotion-ses-v2-mechdog-quadrapod-robot/78217]]
16 -
17 17  = Features =
18 18  
19 19  * 12x fully configurable modular smart servo motors
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21 21  * Modular aluminum brackets
22 22  * Compatible with Lynxmotion Servo Erector Set electronics
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 -* 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
23 +*
35 35  
36 -= User Guide =
25 += Quickstart Guide / Assembly =
37 37  
38 -{{include context="NEW" reference="ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.WebHome"/}}
27 +{{include context="NEW" reference="servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.WebHome"/}}
39 39  
40 40  = Actuators =
41 41  
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48 48  
49 49  = Dimensions =
50 50  
51 -{{lightbox image="SESV2-mechDOG-Dimensions.jpg" width="800"/}}
40 +{{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]]|
45 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
46 +|3x LSS-ST1|2x LSS-HT1| | | |
47 +|LSS Standard|LSS High-Torque| | | |
48 +|[[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"]]| | | |
49 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
50 +|1x LSS-ADA|2x LSS-C-300-S|12x CC-01|2x AHS-EC|1x 12V-XT60|1x USBC-02
51 +|LSS Adapter|300mm Cable|Cable Clip|Electronic Clip|12V w/ XT60|USB to Mini B
52 +|[[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"]]| | | |
54 +|3x ASB-28|3x ASB-39|1x ASB-30|2x ASB-35|2x ASB-36|1x ASB-42
55 +|LSS Single Wide|Short C V2|LSS Double Wide|Gripper Main|Gripper Secondary|Gripper Foam
56 +|[[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]]
57 +|(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]**
58 +|1x SG-32T-D|1x SG-32T-I| | | |
59 +|32T Driving Gear|32T Idler Gear| | | |
60 +|[[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"]]| | | |
61 +|(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
62 +|4x HUB-22|2x CF-16x14-75| | | |
63 +|16mm SES Clamp|75mm Carbon Tube| | | |
64 +|[[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]]| | | |
65 +|(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
66 +|58x PHS-02|19x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03
67 +|2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm
68 +|[[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]]
69 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**
70 +|5x AHS-19|4x AHS-20| | | |
71 +|M3 x 40mm|M3 x 18mm| | | |
72 +|[[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"]]| | | |
73 +|(% 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]]**
74 +|(% 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" %)
75 +|(% 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" %)
76 +|[[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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