SES-V2 - mechDOG Quadruped

[[[[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"]]

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**Table of Contents**

= Description =

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.

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**Official Community Forum:**

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* [[Lynxmotion SES V2 mechDOG Quadrapod Robot>>https://community.robotshop.com/forum/t/lynxmotion-ses-v2-mechdog-quadrapod-robot/78217]]

= Features =

* 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

24

* Mounting for IR and ultrasonic sensors is included.

= Specifications =

* 3 Degrees of Freedom (DoF) per leg: hip; shoulder; knee

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* Body / chassis length: 191.10mm / 11.461"

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* Body / chassis height: 53.80mm / 2.118"

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* Suggested standing height (to top of chassis): ~~ 130mm / 5.125"

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* Suggested battery: 11.1V (3S) LiPo capable of at least 5A continuous discharge

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* Mounting plates for: LSS, SES, Sharp, PING

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* Weight: ~~ 1.65kg / 3.64lbs

= User Guide =

{{include context="NEW" reference="ses-v2.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.WebHome"/}}

= Actuators =

(% style="width:350px" %)

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|**Location**|**Type**|**Static Torque**|**Max Speed**

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|All|ST1|14Kg-cm|360° /s

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|(% colspan="4" %)(((

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**Note that when operated at lower voltages, torque and speed are reduced.**

)))

= Dimensions =

= What's Included =

(% style="max-width:750px" %)

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|(% 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]]**|

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|[[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]]|

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|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**

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|[[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]]

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|(% colspan="5" rowspan="1" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-screws.WebHome]]**|**[[doc:servo-erector-set-system.ses-mechanics.ses-nuts.WebHome]]**

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|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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|[[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]]

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|**[[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]]**| |

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|[[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]]| |

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|(% colspan="6" %)**[[mechDOG Custom Parts>>doc:ses-v2.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome]]**

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|[[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"]]

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|[[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"]]

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|[[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"]]| | | |

Wiki source code of SES-V2 - mechDOG Quadruped

Navigation

1	{{lightbox image="SESV2-mechDOG.PNG" width="350"/}}
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"]]
4
5	Table of Contents
6
7	{{toc/}}
8
9	= Description =
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.
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	= Features =
18
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
24	* Mounting for IR and ultrasonic sensors is included.
25
26	= Specifications =
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
35
36	= User Guide =
37
38	{{include context="NEW" reference="ses-v2.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.WebHome"/}}
39
40	= Actuators =
41
42	(% style="width:350px" %)
43	\|Location\|Type\|Static Torque\|Max Speed
44	\|All\|ST1\|14Kg-cm\|360° /s
45	\|(% colspan="4" %)(((
46	Note that when operated at lower voltages, torque and speed are reduced.
47	)))
48
49	= Dimensions =
50
51	{{lightbox image="SESV2-mechDOG-Dimensions.jpg" width="800"/}}
52
53	{{lightbox image="mechDOG-Stick.PNG" height="300"/}}
54
55	= What's Included =
56
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]]\|
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: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"]]\| \| \| \|