Changes for page ses-v2-info (redirect)
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... ... @@ -1,76 +3,43 @@ 1 -**Page Contents** 2 - 3 3 {{toc/}} 4 4 5 -= Description=3 += Servo Erector Set (S.E.S.) = 6 6 7 -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 andsystems. 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 awide 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,releasedin 2019, is an evolution of the original SES V1 and was created with the following goals:5 +Interested in building complex, custom robots, but not sure where to start? Lynxmotion's Servo Erector Set (S.E.S.) is a modular robotic construction system which allows a near infinite variety of different robots and configurations. Imagine your next robotic creation, get the parts you need to build it, and then control it! 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 is an evolution of the original SES V1 and was created with the following goals: 8 8 9 9 * Evolution and modernization of the SES V1 modular construction system 10 -* Add advanced features while reducing mechanical complexity8 +* Add advanced features while reducing complexity 11 11 * SES V1 compatibility (whenever possible) 12 -* Compatibility with several3rd party manufacturer products10 +* Compatibility with other 3rd party manufacturer products / technology 13 13 * Improved documentation, design and packaging 14 14 15 - =SESElements=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. 16 16 17 - Aside fromthe servos themselves, there are three main elements to the Servo Erector Set system: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. 18 18 19 - ==Electronics==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. 20 20 21 -The V1systemwas basedontheBotBoarduinoArduino-compatibleicrocontrollerand the SSC-32Uservocontroller.Avariety ofservocableextensions, wiringharnessesand relatedcabling was used toconnecteverything together. The V2system focuses onsmartservocableswhilestill permittingRC control.Themainelectronicsfor the V2 includeonlyan adapterandpower hub.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. 22 22 23 - TheSES V2 system is meant tobe powered using either batteriesor awall adapter. Whenbuilding a mobile robot, the suggestedpackis theLynxmotion11.1V,3500mAh LithiumIon battery pack, which canbecharged frommost Li-Ionbattery chargersviathefour-pin charging connector.Alternatively, most2S (7.4V)and 3S (11.1V) Lithium-basedbatterypackswith XT60 connectorcan be used with theLSS Servos.The servos canbe poweredsing as little as 6V, thoughifabatterypack selectedrops belowthis value,theservoswillcut.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. 24 24 25 - Whencreating a stationary robot like a roboticarm, the suggestedwalladapteristheLynxmotion12V, 6AwalladapterwithXT60connector.Ifadifferentwalladapterisselectedwhichhas astandardbarrelconnector, powercanbe supplied usingthe LSS PowerHub asintermediary, leaving theLSS Adapter'sXT60notconnected.NotethattheLSS PowerHubcannotprovide~~3Ato allservosin thebugwhereas theLSSAdapteris designedtohandleservosconnectedtoa bus.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. 26 26 27 -= =Mechanics ==25 += Electronics Overview = 28 28 29 - TheLynxmotionServo ErectorSethas always included both metricand imperial dimensions, andtheV1 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.27 +**LSS Adapter** 30 30 31 -Th e firstSES system used a variety of different Hitec RCservos,andbracketswere designed toadapt theseservos to to the Erector Set. Although astandard RC servo case size existedfor many Hitecservos,several series of bracketshad to becreated to accommodate differentservo sizes (micro, standard and large). Some brackets were designed to have one specific application (for examplethe body panels for a specific hexapod design) while mostweremeant to be as modular as possible. In all around 70 brackets were created for the V1 SES system. Disregarding the HitecRC servo-specific brackets,the remainingbrackets from the V1 canmostlybe usedfor the V2 system. The new LynxmotionSmartServos were designed to be used withthev1 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 tocreate a newrobot which uses elements from both the V1 and V2 systems. The SES V1 provided an option for 1:1 externalgearing,and the V2 system also includes theoptionor addingexternal gears (1:1 and 1:3) which can be mounted to the servo itselfas well as using an external gearbox bracket. Gears use a standard pitchof 16, allowing them to be compatible with otherspur gears and gear racks of the same pitch.29 +This is designed to be used as the main intermediate circuit and can be used in the following configurations: 32 32 33 -== Software == 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 34 34 35 - 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 theLSSConfig,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.36 +**LSS Power Hub** 36 36 37 - =SESMountingPattern=38 +The LSS Power Hub is a simple / small circuit allowing various functionality. 38 38 39 -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: 40 - 41 -|(% style="width:318px" %)[[image:SES-V2 - SES Pattern (4).png||queryString="width=200" width="200"]]|(% style="width:1160px" %)((( 42 -**SES V1 Pattern** 43 - 44 -* 8mm diameter center hole 45 -* Four equally spaced holes located on a 0.656” diameter circle. Sometimes these four holes are threaded 2-56 (imperial), sometimes they are not 46 -* Outer diameter is 1” (2.54cm) 47 -))) 48 -|(% style="width:318px" %)[[image:SES-V2 - SES Pattern (8).png||queryString="width=200" width="200"]]|(% style="width:1160px" %)((( 49 -**SES V2 Pattern** 50 - 51 -Newer brackets and parts have four additional holes (for a total of eight holes) spaced at 45 degrees to allow for easy mounting. 52 - 53 -* 8mm diameter center hole 54 -* Eight equally spaced holes located on a 0.656” diameter circle. Holes are threaded 2-56 (imperial). 55 -* Outer diameter is 1” (2.54cm) 56 -))) 57 -|(% style="width:318px" %){Image}|(% style="width:1160px" %)((( 58 -**SES V2b Pattern** 59 - 60 -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. 61 - 62 -* X-shaped diameter center hole 63 -* Four equally spaced holes located on a 0.656” diameter circle. Holes are not threaded. 64 -))) 65 - 66 -= Navigation = 67 - 68 -Learn more about [[SES - Electronics>>doc:servo-erector-set-system.ses-electronics.WebHome]] 69 - 70 -Learn more about [[SES - Hardware>>doc:servo-erector-set-system.ses-mechanics.WebHome]] 71 - 72 -Learn more about [[SES - Parts>>doc:servo-erector-set-system.SES - Parts.WebHome]] 73 - 74 -Learn more about [[SES - Power>>doc:servo-erector-set-system.ses-servos.WebHome]] 75 - 76 -Learn more about [[SES - Software>>doc:servo-erector-set-system.ses-software.WebHome]] 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.
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