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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:
6	6
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	+= SES Elements =
14	14
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.
	11	+== Electronics ==
16	16
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.
	13	+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.
18	18
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.
	15	+== Hardware ==
20	20
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.
	17	+The Lynxmotion Servo Erector Set has always included both metric and imperial dimensions, and the V1 system used almost 150 different screws, nuts, washers, standoffs and related accessories. The V2 reduces this down to less than 10, focusing 2-56 threaded pan head screws and 2-56 nuts for bracket connections, and M3 screws for standoffs and servo horn mounting.
22	22
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.
	19	+== Main Parts ==
24	24
25		-= Electronics Overview =
	21	+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. The SES V1 provided an option for 1:1 external gearing, and the V2 system also includes the option for adding external gears (1:1 and 1:3) which can be mounted to the servo itself as well as using an external gearbox bracket. Gears use a standard pitch of 16, allowing them to be compatible with other spur gears and gear racks of the same pitch.
26	26
27		-**LSS Adapter**
	23	+== Power ==
28	28
29		-This is designed to be used as the main intermediate circuit and can be used in the following configurations:
	25	+{More to come}
30	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
	27	+== Software ==
35	35
36		-**LSS Power Hub**
	29	+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.
37	37
38		-The LSS Power Hub is a simple / small circuit allowing various functionality.
	31	+= SES Mounting Pattern =
39	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.
	33	+The SES mounting pattern is based on two holes which are used for mounting objects to a Hitec standard servo horn such as the Hitec HS-422. The mounting pattern involves:
	34	+
	35	+|(% style="width:350px" %)[[image:SES-V2 - SES Pattern (4).png||width="200"]]|(((
	36	+**SES V1 Pattern**
	37	+
	38	+* 8mm diameter center hole
	39	+* Four equally spaced holes located on a 0.656” diameter circle. Sometimes these four holes are threaded 2-56 (imperial), sometimes they are not
	40	+* Outer diameter is 1” (2.54cm)
	41	+)))
	42	+|[[image:SES-V2 - SES Pattern (8).png||width="200"]]|(((
	43	+**SES V2 Pattern**
	44	+
	45	+Newer brackets have four additional holes (for a total of eight holes) spaced at 45 degrees to allow for easy mounting.
	46	+
	47	+* 8mm diameter center hole
	48	+* Eight equally spaced holes located on a 0.656” diameter circle. Holes are threaded 2-56 (imperial).
	49	+* Outer diameter is 1” (2.54cm)
	50	+)))
	51	+|{Image}|(((
	52	+**SES V2b Pattern**
	53	+
	54	+Several of the brackets have an opening which allows the SES V2 cable(s) to pass through. The aluminum clamping hub also has this opening, so when used with carbon fiber tubing, the wires can be passed within the structure.
	55	+
	56	+* X-shaped diameter center hole
	57	+* Four equally spaced holes located on a 0.656” diameter circle. Holes are not threaded.
	58	+)))
	59	+
	60	+