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# 3 DoF Robotic Arm

Last modified by Eric Nantel on 2024/07/03 09:35
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Table of Contents

- Description
- Features
- Specifications
- Quickstart Guide / Assembly
- Actuators
- Working Envelope
- What's Included

# Description

The Lynxmotion (LSS) - 3 DoF Robotic Arm (Kit) was designed to be an inexpensive yet highly versatile robotic arm using the fully configurable Lynxmotion Smart Servo (LSS) actuators. The four-bar mechanical design ensures the end effector remains parallel to the surface, and offloads much of the weight of the joints onto the base. Combined with the Lynxmotion conveyor system, a tabletop assembly system can be created within a few hours.

Although well suited for use on a desk for development and experimentation, the arm is meant to be easily fitted to a mobile robot and powered using a 3S LiPo battery (sold separately) with XT60 connector. The included Mini Parallel Gripper uses a micro servo, acrylic and foam to be as lightweight as possible. The gripper opens to 40mm and the bracket allows it to be mounted horizontally or vertically.

Gripper Option #1 | Gripper Option #2

The arm includes three main electronic components: The LSS Adapter makes connecting to a computer, Arduino, Raspberry Pi, XBee or other serial device easy, while the LSS-2IO programmable microcontroller (which control the gripper RC servo) and LSS-5VR voltage regulator mean the normal RC servo in the gripper can be used with the LSS communication protocol.

CAD design files, as well as examples of how to communicate with the smart servos via Arduino and Python are available so that students and hobbyists can more easily integrate the arm into their projects. The graphical user interface LSS FlowArm, created using FlowBotics Studio, makes recording and playing back sequences effortless.

# Features

- Three fully configurable modular smart servo motors
- Composite G10 frame
- Parallel gripper opens 40mm
- Create sequences using handheld teach mode, coordinates, virtual arm
- Built-in safety (current, temperature, voltage)
- Easy to understand and human readable LSS communication protocol

# Specifications

The following are provided with the vertical gripper option:

- Axes: 3 degrees of freedom + gripper
- Max Horizontal Reach: 15" / 38cm
- Max Vertical Reach: 8.25" / 21cm
- Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
- Power Supply Out: 12V, 6A DC with XT60 connector
- Arm weight: 1.39 pounds / 634g
- Gripper opening: 1.34" / 3.4cm

# Quickstart Guide / Assembly

| LSS 3 DoF Robotic Arm KIT steps: 3 DoF Servo Setup 3 DoF Base 3 DoF Preparation 3 DoF Links 3 DoF Mini Gripper 3 DoF Final 3 DoF Wiring LSS 3 DoF Robotic Arm Software: LSS FlowArm - Setup LSS FlowArm - Software (complete user guide) LSS 3 DoF Robotic Arm Custom Parts 3 DoF Parts

# Actuators

Location | Type | Static Torque | Max Speed
Base | ST1 | 14Kg-cm | 360° /s
Shoulder | ST1 | 14Kg-cm | 360° /s
Elbow | ST1 | 14Kg-cm | 360° /s
Gripper | LRC | 1.5 Kg-cm | 0.10s / 60° (6V)
Note that when operated at lower voltages, torque and speed are reduced.

# Working Envelope

# What's Included

SES - Robots & Kits
1x LSS-BR-KT | 1x SES-MG-KT |  |  |  |
Base Rotate Kit | Mini Gripper Kit |  |  |  |
Servos
3x LSS-ST1 |  |  |  |  |
LSS Standard |  |  |  |  |
Electronics
1x LSS-ADA | 1x LSS-2IO | 1x LSS-5VR | 1x BX-12006000-XT60 | 1x USBC-02 | 4x ZT-07in
LSS Adapter | 2IO Module | 5V Module | 12V w/ XT60 | USB to Mini B | 7" Zip Tie
3x LSS-C-100-S | 1x LSS-C-150-Y | 1x SEA-01 | 1x SEA-02 |  |
100mm Cable | 150mm Y Cable | 6in Extension | 12in Extension |  |
Brackets (SES)
2x ASB-28 | 1x ASB-43 |  |  |  |
LSS Single Wide | Mini C Bracket |  |  |  |
SES - Mechanics
27x PHS-02 | 2x PHS-16 | 4x PHS-17 | 2x PHS-18 | 2x PHS-19 | 12x PHS-05
2-56 x 1/4" | M3 x 10mm | M3 x 20mm | M3 x 30mm | M3 x 40mm | 2-56 x 1/2"
2x AHS-EC | 15x PHTS-01 | 26x SW-04 | 8x SLN-03 |  |
Electronic Clip | #2 x 1/4" | 3 x 5.6mm Washer | M3 Locknut |  |
LSS - 3 DoF Parts
1x LSS-3DOF-L-01 | 5x LSS-3DOF-L-02 | 1x LSS-3DOF-L-03 | 2x LSS-3DOF-L-04 | 1x LSS-3DOF-L-05 | 1x LSS-3DOF-L-06
Link #1 | Link #2 | Link #3 | Link #4 | Link #5 | Link #6
1x LSS-3DOF-BP | 1x LSS-3DOF-BS | 2x LSS-3DOF-CT-S | 2x LSS-3DOF-CT-L |  |
Base Plate | Back Support | Small Support | Large Support |  |

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Created by Eric Nantel on 2024/07/03 09:35
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