Summary

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  • SES-BuildingSystem.png
  • SES-V2 - SES Pattern (4).png
  • SES-V2 - SES Pattern (8).png

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1		-Servo Erector Set (SES) Building System
	1	+SES V2 - Overview

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1		-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:
	1	+Interested in building complex, custom robots, but not sure where to start? Lynxmotion's Servo Erector Set is a modular robotic construction system which allows a near infinite variety of different robots and configurations.
2	2
3		-* Evolution and modernization of the SES V1 modular construction system
4		-* Add advanced features while reducing mechanical complexity
5		-* SES V1 compatibility (whenever possible)
6		-* Compatibility with several 3rd party manufacturer products
7		-* Improved documentation, design and packaging
	3	+1. [[SES V2 - Assemblies>>doc:SES V2 - Assemblies.WebHome]]
	4	+1. [[SES V2 - External Gearing>>SES V2 - External Gears]]
	5	+1. [[SES V2 - Hardware Table>>doc: V2 - Hardware.WebHome]]
	6	+1. [[SES V2 - Brackets & Gears Table>>doc: V2 - Brackets & Gearing.WebHome]]
	7	+1. SES V2 - Wires & Wiring (//coming soon//)
	8	+1. SES V2 - FlowArm V2 Software (//coming soon//)
8	8
9		-= SES Elements =
	10	+(% style="text-align:center" %)
	11	+[[image:SES-V11.jpg||alt="Lynxmotion SES V1.1" width="400"]]
10	10
11		-== Electronics ==
	13	+The V2 system is an evolution of the original SES V1 system and was created with the following goals:
12	12
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.
	15	+* Evolution and modernization of the SES V1 modular system
	16	+* Add features while reducing complexity
	17	+* SES V1 backward compatibility whenever possible
	18	+* Compatible with other 3rd party manufacturer products / technology
	19	+* Improved documentation, design and packaging
14	14
15		-== Hardware ==
	21	+The SES V2 system is comprised of the following:
16	16
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.
	23	+* Lynxmotion Smart Servo (LSS) motors
	24	+* Electronics, wiring and power
	25	+* Modular metal brackets and hardware
	26	+* Software and code examples
18	18
19		-== Parts ==
	28	+= SES V2 Kits =
20	20
21		-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.
	30	+When it came to the V1 system, a wide variety of different kits were created; around 16 different robot arm kits, a variety of bipeds, a plethora of hexapods and more. The V2 selection reduces this to one or two of each kind of robot as demonstrations of the SES V2 system. Feel free to imagine your next robotic creation, purchase parts to build it, and then control it! If you want to build a variety of different robots using the SES system, consider the complete Lynxmotion SES V2 Construction Kit which contains a wide variety of parts so you can design and build to your heart’s content.
22	22
23		-== Power ==
	32	+* Robot arm “//name T.B.D.//” V2.1 (5 servos)
	33	+* Robot power arm “//name T.B.D.//” V2.1 (5 servos w/ external gearing)
	34	+* Robot biped “BRAT” V2.1 (6 servos)
	35	+* Robot quadruped “//name T.B.D.//” V2.1 (12 servos)
	36	+* Robot hexapod “//name T.B.D.//” V2.1 (18 servos)
	37	+* Robot humanoid “//name T.B.D.//” V2.1 (20 servos)
	38	+* SES V2 Modular Kit (20 servos)
24	24
25		-The SES V2 system is meant to be powered using either batteries or a wall adapter. When building a mobile robot, the suggested pack is the Lynxmotion 11.1V, 3500mAh Lithium Ion battery pack, which can be charged from most Li-Ion battery chargers via the four-pin charging connector. Alternatively, most 2S (7.4V) and 3S (11.1V) Lithium-based battery packs with XT60 connector can be used with the LSS Servos. The servos can be powered using as little as 6V, though if a battery pack selected drops below this value, the servos will cut.
	40	+= SES V1 vs SES V2 =
26	26
27		-When creating a stationary robot like a robotic arm, the suggested wall adapter is the Lynxmotion 12V, 6A wall adapter with XT60 connector. If a different wall adapter is selected which has a standard barrel connector, power can be supplied using the LSS Power Hub as intermediary, leaving the LSS Adapter's XT60 not connected. Note that the LSS Power Hub cannot provide ~~3A to all servos in the bug whereas the LSS Adapter is designed to handle servos connected to a bus.
	42	+The first version of the Lynxmotion S.E.S. system used a variety of Hitec servo motors and semi modular brackets. Most of the SES V1 and SES V2 can mechanically be used together since they both use the Servo Erector Set mounting pattern. The Lynxmotion Smart Servo Motors are designed to be used with the Lynxmotion modular bracket system in order to create a modular robotic building system called the Lynxmotion Servo Erector Set (S.E.S.) version 2. It is therefore entirely possible to create a new robot which uses elements from both the V1 and V2 systems.
28	28
29		-== Software ==
	44	+**Brackets**: The first SES system used a variety of different Hitec RC servos. Although a standard case size existed for many, three series of brackets had to be created to accommodate different servo sizes (micro, standard and large). It's difficult to provide an exact number of brackets used in the V1 system as many have one specific application (for example the body panels for a specific hexapod). 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. Additional modular brackets have been created for the new LSS motors.
30	30
31		-There is a variety of software available for the erector set V1 (SSC-32 and SSC-32U RC servo controllers) and V2 (smart servos). Software for the V2 includes the LSS Config, which is a tool to qeasily control, configure and update individual smart servos, a new version of FlowArm designed for using the smart servos, as well as libraries in Arduino, Python and ROS. Additional software to come.
	46	+**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.
32	32
33		-= SES Mounting Pattern =
	48	+**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.
34	34
35		-The SES mounting pattern was based on two holes which are used for mounting objects to a Hitec standard servo horn such as the Hitec HS-422. The holes are meant for 2-56 (imperial) threaded screws. Screws which are 1/4 inch long are able to hold together two brackets with enough thread protruding to add a 2-56 nut. In most situations only two screws are needed, though four screws can be used. The mounting pattern has evolved to include three variations:
	50	+**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.
36	36
37		-|(% style="width:318px" %)[[image:SES-V2 - SES Pattern (4).png||width="200"]]|(% style="width:1160px" %)(((
38		-**SES V1 Pattern**
	52	+**Software**: Software will include a new version of FlowArm designed for using the smart servos, as well as libraries in Arduino, Python and ROS. Additional software to come.
39	39
40		-* 8mm diameter center hole
41		-* Four equally spaced holes located on a 0.656” diameter circle. Sometimes these four holes are threaded 2-56 (imperial), sometimes they are not
42		-* Outer diameter is 1” (2.54cm)
43		-)))
44		-|(% style="width:318px" %)[[image:SES-V2 - SES Pattern (8).png||width="200"]]|(% style="width:1160px" %)(((
45		-**SES V2 Pattern**
46	46
47		-Newer brackets and parts have four additional holes (for a total of eight holes) spaced at 45 degrees to allow for easy mounting.
	55	+== Electronics Overview ==
48	48
49		-* 8mm diameter center hole
50		-* Eight equally spaced holes located on a 0.656” diameter circle. Holes are threaded 2-56 (imperial).
51		-* Outer diameter is 1” (2.54cm)
52		-)))
53		-|(% style="width:318px" %){Image}|(% style="width:1160px" %)(((
54		-**SES V2b Pattern**
	57	+**LSS Adapter**
55	55
56		-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.
	59	+This is designed to be used as the main intermediate circuit and can be used in the following configurations:
57	57
58		-* X-shaped diameter center hole
59		-* Four equally spaced holes located on a 0.656” diameter circle. Holes are not threaded.
60		-)))
	61	+1. USB cable (from desktop, laptop, tablet etc.)
	62	+1. Wireless "Xbee compatible" RF, Bluetooth, WiFi device etc. (sold separately)
	63	+1. Arduino shield (using male to male headers)
	64	+1. Stacked (using standoffs) above or below a standard Raspberry Pi
61	61
62		-= Navigation =
	66	+**LSS Power Hub**
63	63
64		-Learn more about [[SES - Electronics>>doc:.SES - Electronics.WebHome]]
	68	+The LSS Power Hub is a simple / small circuit allowing various functionality.
65	65
66		-Learn more about [[SES - Hardware>>doc:.SES - Hardware.WebHome]]
67		-
68		-Learn more about [[SES - Parts>>doc:.SES - Parts.WebHome]]
69		-
70		-Learn more about [[SES - Power>>doc:.SES - Power.WebHome]]
71		-
72		-Learn more about [[SES - Software>>doc:.SES - Software.WebHome]]
	70	+1. Connect multiple servos or use as alternative to "Y harness".
	71	+1. Separate power feed from a barrel connector
	72	+1. "Inject" additional power when many servos are daisy chained
	73	+1. Connect LSS motors to normal 2.54mm spaced pins using the RC cable adapter.

SES-BuildingSystem.png

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