Wiki source code of SES-P 900mm 5DoF Robotic Arm

Version 52.2 by Eric Nantel on 2024/07/25 14:51
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Eric Nantel 41.1 1 {{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/ses-pro-arms/ses-pro-900-5-dof-arm/WebHome/SES-P-A-900-5DOF-01.png" width="350"/}}
Eric Nantel 3.1 2
Eric Nantel 44.1 3 [[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-900mm-5dof-modular-robotic-arm-kit||rel="noopener noreferrer" target="_blank"]][[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-900mm-5dof-modular-robotic-arm-assembled||rel="noopener noreferrer" target="_blank"]]
Eric Nantel 3.1 4
5 **Table of Contents**
6
7 {{toc/}}
8
9 = Description =
10
Eric Nantel 7.1 11 * Modular, customizable & reconfigurable semi-professional arm
12 * Easy to use with human readable communication protocol
13 * High accuracy and competitive payload capacity
14 * 900mm horizontal extension
15 * 3Kg payload and ±0.1 mm accuracy
16 * Gripper sold separately
Eric Nantel 3.1 17
Eric Nantel 7.1 18 The **Lynxmotion SES-PRO 900mm 5Dof Modular Robotic Arm** offers a payload of 3Kg at full extension with an accuracy of ±0.1 mm. Unlike purpose-built arms, this is designed to be modular and reconfigurable to suit the user’s application. Additional degrees of freedom can be added, and existing degrees of freedom can be reconfigured or removed. The design ensures there are no evident pinch points.
19
20 Incorporates five Lynxmotion Professional Smart Servo actuators
21
22 * Strain wave gearing
23 * NEMA Stepper motors
24 * Onboard electronics
25 ** Microcontroller
26 ** Motor controller
27 ** Voltage regulation
28 ** IMU (accel & gyro)
29 ** CAN communication
30 ** Absolute angular feedback
31 ** Human readable communication protocol
32 ** … more
33
Eric Nantel 3.1 34 = Specifications =
35
Eric Nantel 7.1 36 **General**
Eric Nantel 3.1 37
Eric Nantel 7.1 38 * Degrees of Freedom (DoF): 5
39 * Payload: 3Kg (no gripper)
40 * Max speed (cartesian): Coming soon
41 * Collision detection: No
42 * ROS 2: Coming soon
43
44 **Mechanical**
45
46 * Horizontal reach: 900mm
47 * Vertical reach:
48 * Tubing material: carbon fiber
49 * Joint material: machined aluminum
50
Eric Nantel 52.2 51 * Horizontal reach:
52 * Vertical reach:
53
54 (% style="width:600px" %)
55 |(% style="text-align:center" %)**Location**|(% style="text-align:center" %)**Type**|(% style="text-align:center" %)**Static Torque**|(% style="text-align:center" %)
56 |Joint 1 / Base|(% style="text-align:center" %)LSS-P-S1|(% style="text-align:center" %) |(% style="text-align:center" %)±180°
57 |Joint 2 / Shoulder|(% style="text-align:center" %)LSS-P-S1|(% style="text-align:center" %) |(% style="text-align:center" %)±180°
58 |Joint 3 / Elbow|(% style="text-align:center" %)LSS-P-S1|(% style="text-align:center" %) |(% style="text-align:center" %)±180°
59 |Joint 4 / Wrist Roll (fixed)|(% style="text-align:center" %)LSS-P-TC|(% style="text-align:center" %)-|(% style="text-align:center" %)-
60 |Joint 5 / Wrist Pitch|(% style="text-align:center" %)LSS-P-L1|(% style="text-align:center" %) |(% style="text-align:center" %)±180°
61 |Joint 6 / Wrist Yaw|(% style="text-align:center" %)LSS-P-L1|(% style="text-align:center" %) |(% style="text-align:center" %)±180°
62
Eric Nantel 7.1 63 **Electrical**
64
65 * Input voltage: 30V (nominal)
66 * Max current: Coming soon
67 * Wall adapter: 120V - 220V
68 * Battery power alternative: 8 cell (8S)
69 * Wiring: external
70
71 **Communication**
72
73 * Communication method: CAN Bus
74 * Communication protocol: LSS-P (human readable)
75 * Motor: NEMA 17 & 24
76 * Gearing: Strain wave (aka “Harmonic drive”)
77 * Safety: Emergency stop button & software stop
78 * Joint angle: 360 (restricted by external cables)
79
80
Eric Nantel 37.1 81 = User Guides =
Eric Nantel 3.1 82
Eric Nantel 37.1 83 {{include context="NEW" reference="ses-pro.ses-pro-arms.ses-pro-900-5-dof-arm.ses-pro-900-5-dof-arm-guides.WebHome"/}}
Eric Nantel 3.1 84
Eric Nantel 40.1 85 = CAD Files =
86
Eric Nantel 43.1 87 * Simple Geometry
Eric Nantel 49.1 88 ** [[attach:SES-P-A-900-5DOF-SG.zip]]
Eric Nantel 43.1 89 * Complete public version
Eric Nantel 51.1 90 ** [[attach:SES-P-A-900-5DOF-Public.zip]]
Eric Nantel 42.1 91 * Drilling template for the mounting holes
92 ** [[attach:ses-pro.ses-pro-parts.ses-p-a-b-l-kt.WebHome@SES-P-A-B-L - Drill Template v1.0.pdf]]
93
Eric Nantel 3.1 94 = Dimensions =
95
Eric Nantel 29.1 96 [[image:SES-P-A-900-5DOF-Dimensions.png||alt="lynxmotion-ses-pro-900mm-5dof-modular-robotic-arm-kit-dimensions.jpg" height="400" width="400"]]
Eric Nantel 3.1 97
98 = What's Included =
99
Eric Nantel 45.1 100 |=(% style="width: 125px;" %) PICTURE|= NAME / DESCRIPTION|=(% style="width: 55px; text-align: center;" %)Qty|=(% style="width: 150px;" %)Lynxmotion SKU|=(% style="width: 150px;" %)RobotShop SKU
101 |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-L1.png]]|(((
102 Lynxmotion Smart Servo PRO Lite Modular Strain Wave Gear Actuator (LSS-P-L1)
103 )))|(% style="text-align:center" %)2|[[LSS-P-L1>>doc:ses-pro.lss-pro.WebHome]]|(((
104 [[RB-Lyn-1158>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-lite-modular-strain-wave-gear-actuator-lss-p-l1]]
105 )))
106 |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-S1.png]]|(((
107 Lynxmotion Smart Servo PRO Standard Modular Strain Wave Gear Actuator (LSS-P-S1)
Eric Nantel 5.1 108
Eric Nantel 45.1 109
Eric Nantel 46.1 110 )))|(% style="text-align:center" %)1|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|(((
Eric Nantel 45.1 111 [[RB-Lyn-1159>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-strain-wave-gear-actuator-lss-p-s1]]
112 )))
Eric Nantel 46.1 113 |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-M1.png]]|(((
114 Lynxmotion Smart Servo PRO Mega Modular Strain Wave Gear Actuator (LSS-P-M1)
115
116
117 )))|(% style="text-align:center" %)2|[[LSS-P-M1>>path:/info/wiki/lynxmotion/get/ses-pro/ses-pro-arms/ses-pro-900-5-dof-arm/?sheet=CKEditor.ResourceDispatcher&outputSyntax=plain&language=en&type=doc&reference=ses-pro.lss-pro.WebHome&typed=true]]|[[RB-Lyn-1160>>url:https://ca.robotshop.com/products/lynxmotion-smart-servo-pro-mega-modular-strain-wave-gear-actuator-lss-p-m1]]
Eric Nantel 45.1 118 |[[image:[email protected]]]|(((
119 Lynxmotion SES-PRO Standard Modular T-Frame Coupler
Eric Nantel 3.1 120
Eric Nantel 45.1 121
122 )))|(% style="text-align:center" %)1|[[SES-P-S1-TC-KT>>doc:ses-pro.ses-pro-parts.ses-p-s1-tc-kt.WebHome]]|(((
123 [[RB-Lyn-1178>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-t-frame-coupler]]
124 )))
125 |[[image:[email protected]]]|(((
126 Lynxmotion SES-PRO Arm Base Adaptation Plate
127 )))|(% style="text-align:center" %)1|[[SES-P-A-BAP-KT>>doc:ses-pro.ses-pro-parts.ses-p-a-bap-kt.WebHome]]|[[RB-Lyn-1180>>https://www.robotshop.com/products/lynxmotion-ses-pro-arm-base-adaptation-plate]]
Eric Nantel 46.1 128 |[[image:[email protected]]]|Lynxmotion SES-PRO Base For Mega LSS-P Actuators|(% style="text-align:center" %)1|[[SES-P-A-B-L-KT>>doc:ses-pro.ses-pro-parts.ses-p-a-b-l-kt.WebHome]]|[[RB-Lyn-1171>>https://ca.robotshop.com/products/lynxmotion-ses-pro-base-mega-lss-p-actuators]]
Eric Nantel 45.1 129 |[[image:ses-pro.ses-pro-parts.ses-p-a-c-70-kt.WebHome@SES-P-A-C-70-KT.png]]|Lynxmotion SES-PRO Aluminum Clamp For 70mm CF Tubes|(% style="text-align:center" %)4|[[SES-P-A-C-70-KT>>doc:ses-pro.ses-pro-parts.ses-p-a-c-70-kt.WebHome]]|[[RB-Lyn-1169>>https://www.robotshop.com/products/lynxmotion-ses-pro-aluminum-clamp-for-70mm-cf-tubes]]
Eric Nantel 47.1 130 |[[image:[email protected]]]|Lynxmotion SES-PRO 280.5mm x 70mm Carbon Fiber Tube|(% style="text-align:center" %)1|[[CF-70x67-280.5-KT>>doc:ses-pro.ses-pro-parts.cf-70x67-kt.WebHome]]|[[RB-Lyn-1167>>https://ca.robotshop.com/products/lynxmotion-ses-pro-2805mm-x-70mm-carbon-fiber-tube]]
131 |[[image:[email protected]]]|Lynxmotion SES-PRO 305.5mm x 70mm Carbon Fiber Tube|(% style="text-align:center" %)1|[[CF-70x67-305.5-KT>>doc:ses-pro.ses-pro-parts.cf-70x67-kt.WebHome]]|[[RB-Lyn-1168>>https://ca.robotshop.com/products/lynxmotion-ses-pro-3055mm-x-70mm-carbon-fiber-tube]]
Eric Nantel 45.1 132 |[[image:[email protected]||alt="LSS-P-S1-TC-KT.png"]]|Lynxmotion SES-PRO LSS-P-L1 Output Shaft Cover Kit|(% style="text-align:center" %)2|[[SES-P-L1-SC-KT>>doc:ses-pro.ses-pro-parts.ses-p-sc-kt.WebHome]]|RB-Lyn-1189
133 (ask for price & availability)
Eric Nantel 48.1 134 |[[image:[email protected]||alt="LSS-P-S1-TC-KT.png"]]|Lynxmotion SES-PRO LSS-P-S1 Output Shaft Cover Kit|(% style="text-align:center" %)1|[[SES-P-S1-SC-KT>>doc:ses-pro.ses-pro-parts.ses-p-sc-kt.WebHome]]|RB-Lyn-1190
Eric Nantel 45.1 135 (ask for price & availability)
Eric Nantel 47.1 136 |[[image:[email protected]]]|Lynxmotion SES-PRO LSS-P-M1 Output Shaft Cover Kit|(% style="text-align:center" %)1|[[SES-P-M1-SC-KT>>doc:ses-pro.ses-pro-parts.ses-p-sc-kt.WebHome]]|RB-Lyn-1191
Eric Nantel 45.1 137 (ask for price & availability)
Eric Nantel 46.1 138 |[[image:[email protected]]]|Lynxmotion SES-PRO 285.5mm Normal Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|[[SES-P-A-S-123-NOR>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-11
Eric Nantel 45.1 139 (ask for price & availability)
Eric Nantel 46.1 140 |[[image:[email protected]]]|Lynxmotion SES-PRO 310.5mm Normal Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|[[SES-P-A-S-148-NOR>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-12
Eric Nantel 45.1 141 (ask for price & availability)
Eric Nantel 46.1 142 |[[image:[email protected]]]|Lynxmotion SES-PRO 25mm Normal Tube Sleeve wo/ Lynxmotion Logo|(% style="text-align:center" %)4|[[SES-P-A-S-26-NOR>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-06
143 (ask for price & availability)
144 |[[image:[email protected]]]|Lynxmotion SES-PRO 34mm Normal Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|[[SES-P-A-S-34-NOR>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-09
145 (ask for price & availability)
Eric Nantel 45.1 146 |[[image:[email protected]]]|Lynxmotion SES-PRO 100-240VAC to 36VDC 30A Power Supply w/ Emergency Stop|(% style="text-align:center" %)1|36V-1500W-Custom|RB-Hap-13
147 (ask for price & availability)
Eric Nantel 47.1 148 |[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@LSS-P-ETH.png]]|Lynxmotion Smart Servo PRO RJ45 CAN Communication Cable (65cm)|(% style="text-align:center" %)1|[[LSS-P-ETH-650>>doc:servo-erector-set-system.ses-electronics.ses-wiring.WebHome]]|RB-2se-03
Eric Nantel 45.1 149 (ask for price & availability)
Eric Nantel 47.1 150 |[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@LSS-P-XT60.png]]|Lynxmotion Smart Servo PRO XT60 Female to Female Extension (65cm)|(% style="text-align:center" %)1|[[LSS-P-XT60-650>>doc:servo-erector-set-system.ses-electronics.ses-wiring.WebHome]]|RB-Hap-22
Eric Nantel 45.1 151 (ask for price & availability)
Eric Nantel 5.1 152
Eric Nantel 45.1 153 (% style="position: absolute; left: 752px; top: 257px; width: 1px; height: 1px; overflow: hidden;" %)
154 (((
155 (% style="background-color:#ffffff; width:1843px" %)
156 |=(% style="line-height: 1.42857;" %)NAME / DESCRIPTION
157 )))
Eric Nantel 5.1 158
Eric Nantel 45.1 159 = What’s Needed / Suggested =
160
161 |(% style="width:125px" %)**PICTURE**|**NAME / DESCRIPTION**|(% style="width:150px" %)**Lynxmotion SKU**|(% style="width:150px" %)**RobotShop SKU**
Eric Nantel 47.1 162 |[[image:ses-pro.ses-pro-parts.ses-p-dhr-pge-50-40-kt.WebHome@SES-P-DHR-PGE-50-40-KT.png]]|Lynxmotion SES-PRO DH Robotics PGE-50-40 Two Fingers Gripper Kit|[[SES-P-DHR-PGE-50-40-KT>>doc:ses-pro.ses-pro-parts.ses-p-dhr-pge-50-40-kt.WebHome]]|[[RB-Lyn-1179>>https://ca.robotshop.com/products/lynxmotion-ses-pro-dh-robotics-pge-50-40-two-fingers-gripper-kit]]
163 |[[image:ses-pro.ses-pro-parts.ses-p-dhr-cge-10-10-kt.WebHome@SES-P-DHR-CGE-10-10-KT.png]]|Lynxmotion SES-PRO DH Robotics CGE-10-10 Three Fingers Gripper Kit|[[SES-P-DHR-CGE-10-10-KT>>doc:ses-pro.ses-pro-parts.ses-p-dhr-cge-10-10-kt.WebHome]]|[[RB-Lyn-1177>>https://www.robotshop.com/products/lynxmotion-ses-pro-dh-robotics-cge-10-10-three-fingers-gripper-kit]]
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