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1		-{{toc/}}
2		-
3		-= Servo Erector Set (S.E.S.) =
4		-
5	5	Lynxmotion's Servo Erector Set (S.E.S.) is a modular robotic construction system which allows a near infinite variety of different (and complex) robots and systems. Imagine your next robotic creation, get the parts you need to build it, and then control it! Lynxmotion's first Servo Erector Set came out in 2009 and a wide variety of different kits were created using the V1 system, including several robot arms, a variety of bipeds, a plethora of hexapods and more. The V2 system, released in 2019, is an evolution of the original SES V1 and was created with the following goals:
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7	7	* Evolution and modernization of the SES V1 modular construction system
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10	10	* Compatibility with several 3rd party manufacturer products
11	11	* Improved documentation, design and packaging
12	12
13		-**Actuators**: The Lynxmotion SES V1 system uses several models of Hitec RC servo motors, while the Lynxmotion Smart Servo Motors form the basis of the V2 system.
	9	+**Actuators & Brackets**: The Lynxmotion SES V1 system uses several models of Hitec RC servo motors, while the Lynxmotion Smart Servo Motors form the basis of the V2 system. Details about the smart servos, their features and more can be found [[here>>doc:Lynxmotion Smart Servo (LSS).WebHome]]. The first SES system used a variety of different Hitec RC servos, and brackets were designed to adapt these servos to to the Erector Set. Although a standard RC servo case size existed for many Hitec servos, several series of brackets had to be created to accommodate different servo sizes (micro, standard and large). Some brackets were designed to have one specific application (for example the body panels for a specific hexapod design) while most were meant to be as modular as possible. In all around 70 brackets were created for the V1 SES system. Disregarding the Hitec RC servo-specific brackets, the remaining brackets from the V1 can mostly be used for the V2 system. The new Lynxmotion Smart Servos were designed to be used with the v1 bracket system in order to create a modular robotic building system called the Lynxmotion Servo Erector Set (S.E.S.) v2. It is therefore entirely possible to create a new robot which uses elements from both the V1 and V2 systems.
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15		-**Brackets**: The first system used a variety of different Hitec RC servos, and brackets were designed to adapt these servos to to the Erector Set. Although a standard RC servo case size existed for many Hitec servos, four series of brackets had to be created to accommodate different servo sizes (micro, standard and large). Some brackets were designed to have one specific application (for example the body panels for a specific hexapod) while most were meant to be as modular as possible. All in all there are around 70 brackets for use with the V1. Eliminating the servo-specific brackets, the remaining brackets from the V1 can mostly be reused for the V2 system. The new Lynxmotion Smart Servos were designed to be used with the bracket system in order to create a modular robotic building system called the Lynxmotion Servo Erector Set (S.E.S.) v2. It is therefore entirely possible to create a new robot which uses elements from both the V1 and V2 systems.
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17	17	**Gearing**: In addition to the various LSS motors, external gears which can be mounted to the servo as well as using a bracket allow additional building options.
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19	19	**Hardware**: The bracket system of the V1 system used almost 150 different screws, nuts, washers, standoffs and related accessories. The V2 reduces this down to less than 10, focusing on 2-56 and 4-40 screws, nuts and standoffs, and M3 for servo horns.
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21	21	**Software**: Software includes a new version of FlowArm designed for using the smart servos, as well as libraries in Arduino, Python and ROS. Additional software to come.
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23	23	**Electronics**: The V1 system was based on the BotBoarduino Arduino-compatible microcontroller and the SSC-32U servo controller. A variety of servo cable extensions, wiring harnesses and related cabling was used to connect everything together. The V2 system focuses on smart servo cables while still permitting RC control. The main electronics for the V2 include only an adapter and power hub.
24		-
25		-= Electronics Overview =
26		-
27		-**LSS Adapter**
28		-
29		-This is designed to be used as the main intermediate circuit and can be used in the following configurations:
30		-
31		-1. USB cable (from desktop, laptop, tablet etc.)
32		-1. Wireless "Xbee compatible" RF, Bluetooth, WiFi device etc. (sold separately)
33		-1. Arduino shield (using male to male headers)
34		-1. Stacked (using standoffs) above or below a standard Raspberry Pi
35		-
36		-**LSS Power Hub**
37		-
38		-The LSS Power Hub is a simple / small circuit allowing various functionality.
39		-
40		-1. Connect multiple servos or use as alternative to "Y harness".
41		-1. Separate power feed from a barrel connector
42		-1. "Inject" additional power when many servos are daisy chained
43		-1. Connect LSS motors to normal 2.54mm spaced pins using the RC cable adapter.