Wiki source code of SES-P 900mm 6DoF Robotic Arm

Version 45.1 by Eric Nantel on 2024/07/17 13:08
Hide last authors
Eric Nantel 35.1 1 {{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/ses-pro-arms/ses-pro-900-6-dof-arm/WebHome/SES-P-A-900-6DOF-01.png" width="350"/}}
Eric Nantel 4.1 2
Eric Nantel 38.1 3 [[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-900mm-6dof-modular-robotic-arm-kit||rel="noopener noreferrer" target="_blank"]][[[[image:[email protected]]]>>https://www.robotshop.com/products/lynxmotion-ses-pro-900mm-6dof-modular-robotic-arm-assembled||rel="noopener noreferrer" target="_blank"]]
Eric Nantel 4.1 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
17
18 The **Lynxmotion SES-PRO 900mm 6Dof 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 six 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 4.1 34 = Specifications =
35
Eric Nantel 7.1 36 **General**
Eric Nantel 4.1 37
Eric Nantel 7.1 38 * Degrees of Freedom (DoF): 6
39 * Payload: 3Kg (no gripper)
40 * Max speed (cartesian):
41 * Collision detection: No
42 * ROS 2: Coming soon
43
44 **Mechanical**
45
46 * Horizontal reach:
47 * Vertical reach:
48 * Tubing material: carbon fiber
49 * Joint material: machined aluminum
50
51 **Electrical**
52
53 * Input voltage: 30V (nominal)
54 * Max current: Coming soon
55 * Wall adapter: 120V - 220V
56 * Battery power alternative: 8 cell (8S)
57 * Wiring: external
58
59 **Communication**
60
61 * Communication method: CAN Bus
62 * Communication protocol: LSS-P (human readable)
63 * Motors: NEMA 14, 17 & 23
64 * Gearing: Strain wave (aka “Harmonic drive”)
65 * Safety: Emergency stop button & software stop
66
67
Eric Nantel 31.1 68 = User Guides =
Eric Nantel 4.1 69
Eric Nantel 31.1 70 {{include context="NEW" reference="ses-pro.ses-pro-arms.ses-pro-900-6-dof-arm.ses-pro-900-6-dof-arm-guides.WebHome"/}}
Eric Nantel 4.1 71
Eric Nantel 43.1 72 = CAD Files =
73
74 * Simple Geometry
Eric Nantel 45.1 75 ** [[attach:SES-P-A-900-6DOF-SG.zip]]
Eric Nantel 43.1 76 * Complete public version
77 **
78 * Drilling template for the mounting holes
79 ** [[SES-P-A-B-L - Drill Template v1.0.pdf>>attach:ses-pro.ses-pro-parts.ses-p-a-b-l-kt.WebHome@SES-P-A-B-L - Drill Template v1.0.pdf]]
80
Eric Nantel 4.1 81 = What's Included =
82
Eric Nantel 39.1 83 |=(% style="width: 125px;" %) PICTURE|= NAME / DESCRIPTION|=(% style="width: 55px; text-align: center;" %)Qty|=(% style="width: 150px;" %)Lynxmotion SKU|=(% style="width: 150px;" %)RobotShop SKU
84 |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-L1.png]]|(((
85 Lynxmotion Smart Servo PRO Lite Modular Strain Wave Gear Actuator (LSS-P-L1)
Eric Nantel 42.1 86 )))|(% style="text-align:center" %)2|[[LSS-P-L1>>doc:ses-pro.lss-pro.WebHome]]|(((
Eric Nantel 39.1 87 [[RB-Lyn-1158>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-lite-modular-strain-wave-gear-actuator-lss-p-l1]]
88 )))
89 |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-S1.png]]|(((
90 Lynxmotion Smart Servo PRO Standard Modular Strain Wave Gear Actuator (LSS-P-S1)
Eric Nantel 6.1 91
Eric Nantel 39.1 92
Eric Nantel 42.1 93 )))|(% style="text-align:center" %)2|[[LSS-P-S1>>doc:ses-pro.lss-pro.WebHome]]|(((
Eric Nantel 39.1 94 [[RB-Lyn-1159>>https://www.robotshop.com/products/lynxmotion-smart-servo-pro-standard-modular-strain-wave-gear-actuator-lss-p-s1]]
95 )))
Eric Nantel 41.1 96 |[[image:servo-erector-set-system.ses-servos.pro-lynxmotion-smart-servo.WebHome@LSS-P-M1.png]]|Lynxmotion Smart Servo PRO Mega Modular Strain Wave Gear Actuator (LSS-P-M1)|(% 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 39.1 97 |[[image:[email protected]]]|(((
98 Lynxmotion SES-PRO Arm Base Adaptation Plate
99 )))|(% 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 41.1 100 |[[image:[email protected]]]|Lynxmotion SES-PRO Base For Mega LSS-P Actuators|(% style="text-align:center" %)1|[[SES-P-A-B-L-KT>>path:/info/wiki/lynxmotion/view/ses-pro/ses-pro-parts/ses-p-a-b-l-kt/]]|[[RB-Lyn-1171>>url:https://ca.robotshop.com/products/lynxmotion-ses-pro-base-mega-lss-p-actuators]]
Eric Nantel 39.1 101 |[[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 41.1 102 |[[image:[email protected]]]|Lynxmotion SES-PRO 118mm x 70mm Carbon Fiber Tube|(% style="text-align:center" %)2|[[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]]
103 |[[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
Eric Nantel 39.1 104 (ask for price & availability)
105 |[[image:[email protected]||alt="LSS-P-S1-TC-KT.png"]]|Lynxmotion SES-PRO LSS-P-S1 Output Shaft Cover Kit|(% style="text-align:center" %)2|[[SES-P-S1-SC-KT>>doc:ses-pro.ses-pro-parts.ses-p-sc-kt.WebHome]]|RB-Lyn-1190
106 (ask for price & availability)
Eric Nantel 41.1 107 |[[image:[email protected]]]|Lynxmotion SES-PRO LSS-P-M1 Output Shaft Cover Kit|(% style="text-align:center" %)1|[[SES-P-M1-SC-KT>>path:/info/wiki/lynxmotion/view/ses-pro/ses-pro-parts/ses-p-sc-kt/]]|RB-Lyn-1191
Eric Nantel 39.1 108 (ask for price & availability)
Eric Nantel 41.1 109 |[[image:[email protected]||alt="SES-P-A-S-123-NOR.png"]]|Lynxmotion SES-PRO 285.5mm Normal Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|[[SES-P-A-S-285.5-NOR>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-10
Eric Nantel 39.1 110 (ask for price & availability)
Eric Nantel 41.1 111 |[[image:[email protected]]]|Lynxmotion SES-PRO 314.5mm Extended Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|[[SES-P-A-S-314.5-EXT>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-07
Eric Nantel 39.1 112 (ask for price & availability)
Eric Nantel 42.1 113 |[[image:[email protected]]]|Lynxmotion SES-PRO 25mm Normal Tube Sleeve wo/ Lynxmotion Logo|(% style="text-align:center" %)3|[[SES-P-A-S-26-NOR>>doc:ses-pro.ses-pro-parts.ses-p-a-s.WebHome]]|RB-2ne-06
Eric Nantel 41.1 114 (ask for price & availability)
115 |[[image:[email protected]]]|Lynxmotion SES-PRO 34mm Normal Tube Sleeve w/ Lynxmotion Logo|(% style="text-align:center" %)1|[[SES-P-A-S-34-NOR>>path:/info/wiki/lynxmotion/view/ses-pro/ses-pro-parts/ses-p-a-s/]]|RB-2ne-09
116 (ask for price & availability)
Eric Nantel 39.1 117 |[[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
118 (ask for price & availability)
Eric Nantel 41.1 119 |[[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 39.1 120 (ask for price & availability)
Eric Nantel 41.1 121 |[[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 39.1 122 (ask for price & availability)
Eric Nantel 4.1 123
Eric Nantel 39.1 124 (% style="position: absolute; left: 752px; top: 257px; width: 1px; height: 1px; overflow: hidden;" %)
125 (((
126 (% style="background-color:#ffffff; width:1843px" %)
127 |=(% style="line-height: 1.42857;" %)NAME / DESCRIPTION
128 )))
Eric Nantel 6.1 129
Eric Nantel 39.1 130 = What’s Needed / Suggested =
Eric Nantel 6.1 131
Eric Nantel 39.1 132 |(% style="width:125px" %)**PICTURE**|**NAME / DESCRIPTION**|(% style="width:150px" %)**Lynxmotion SKU**|(% style="width:150px" %)**RobotShop SKU**
Eric Nantel 44.1 133 |[[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]]
134 |[[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]]
Copyright RobotShop 2018