Changes for page A4WD3 Frame Only

Last modified by Eric Nantel on 2024/10/21 14:51
From version < 13.2 >
edited by Coleman Benson
on 2021/08/13 13:54
To version < 5.2 >
edited by Eric Nantel
on 2021/07/28 07:42
< >
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1 -xwiki:XWiki.CBenson
1 +xwiki:XWiki.ENantel
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1 -{{lightbox image="A4WD3-KT.PNG" width="350"/}}
1 +{{lightbox image="LSS-3DOF-ISO.PNG" width="350"/}}
2 2  
3 -[[[[image:lynxmotion-wiki-attachments.WebHome@ComingSoon.jpg||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com||rel="noopener noreferrer" target="_blank"]]
3 +[[[[image:lynxmotion-wiki-attachments.WebHome@BuyOnline.jpg||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-lss-3-dof-robotic-arm-kit.html||rel="noopener noreferrer" target="_blank"]]
4 4  
5 5  **Table of Contents**
6 6  
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8 8  
9 9  = Description =
10 10  
11 -The Lynxmotion A4WD3 Rugged Rover is a general purpose mobile robotic platform. The frame is intended to be used in three configurations: 4WD; Mecanum & Tracked, and variations of each platform include without electronics (so developers can integrate their own parts); an RC version and microcontroller-based for autonomous or semi-autonomous use.
11 +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.
12 12  
13 -The machined aluminum frame integrates rotary seals around each motor shaft, and solid rubber cord between the frame and all panel openings, making it dust and water resistant. A large marine inspection hatch on the top panel provides easy access to internal parts as well as being able to quickly swap or recharge batteries. Aside from the internal electronics mounting plate, the platform is symmetric and can be inverted.
13 +{{lightbox image="LSS-3DOF-CONV.PNG" width="400"/}}
14 14  
15 -The rover includes four powerful 12V DC motors coupled to 27:1 all metal planetary gears. The rear shaft of each motor is equipped with a magnetic encoder which provides 12 pulses per revolution (PPR). These motors provide 4WD and allow the rover to reach a top speed of around 3m/s (120”/s) without payload.
15 +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.
16 16  
17 -Front and rear access panels are made of G10 composite and are intended to allow users to machine openings to add their own components, which may include a wired tether for power and control, LED or LCD feedback, a handle, or whatever else their application may need. Included are a pair of transparent polycarbonate panels which allow for an internally mounted camera and/or or LED lights for increased visibility. Additional panels are available separately.
18 18  
18 +(% style="width:400px" %)
19 +|(% style="text-align:center; width:200px" %)**Gripper Option #1**|(% style="text-align:center" %)**Gripper Option #2**
20 +|(% style="text-align:center" %){{lightbox image="LSS-3DOF-GRIP-02.PNG"/}}|(% style="text-align:center" %){{lightbox image="LSS-3DOF-GRIP-01.PNG"/}}
21 +
22 +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. 
23 +
24 +{{lightbox image="LSS-3DOF-ELEC.PNG" width="400"/}}
25 +
26 +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.
27 +
19 19  = Features =
20 20  
21 -* 4x planetary geared DC motors (12V) with rear encoders
22 -* Machined aluminum frame with G10 composite plates
23 -* Shaft seals & solid rubber cord for water and dust resistance
24 -* Internal mounting plate for electronics & battery
30 +* Three fully configurable modular smart servo motors
31 +* Composite G10 frame
32 +* Parallel gripper opens 40mm
33 +* Create sequences using handheld teach mode, coordinates, virtual arm
34 +* Built-in safety (current, temperature, voltage)
35 +* Easy to understand and human readable LSS communication protocol
25 25  
26 26  = Specifications =
27 27  
28 -* Water and dust resistant frame
29 -* 12V, 27:1 planetary gear motors with metal gears
30 -* 8mm diameter, D-shaped motor shaft
31 -* Rear shaft magnetic encoder: 5V square wave AB 90 deg, 12 PPR, 800kHz
32 -* Frame length (external):
33 -* Frame width (external):
34 -* Frame height (external):
35 -* Weight: ~_~__ lbs / ~_~_~_~_ Kg
39 +The following are provided with the vertical gripper option:
36 36  
41 +* Axes: 3 degrees of freedom + gripper
42 +* Max Horizontal Reach: 15" / 38cm
43 +* Max Vertical Reach: 8.25" / 21cm
44 +* Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
45 +* Power Supply Out: 12V, 6A DC with XT60 connector
46 +* Arm weight: 1.39 pounds / 634g
47 +* Gripper opening: 1.34" / 3.4cm
48 +
37 37  = Quickstart Guide / Assembly =
38 38  
39 -{{include context="NEW" reference="rover-kits.a4wd3-frame-only.a4wd3-frame-only-quickstart.WebHome"/}}
51 +{{include reference="servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.WebHome" context="NEW"/}}
40 40  
53 += Actuators =
54 +
55 +(% style="width:400px" %)
56 +|**Location**|**Type**|**Static Torque**|(% style="width:188px" %)**Max Speed**
57 +|Base|ST1|14Kg-cm|(% style="width:188px" %)360° /s
58 +|Shoulder|ST1|14Kg-cm|(% style="width:188px" %)360° /s
59 +|Elbow|ST1|14Kg-cm|(% style="width:188px" %)360° /s
60 +|Gripper|LRC|1.5 Kg-cm|(% style="width:188px" %)0.10s / 60° (6V)
61 +|(% colspan="4" style="width:420px" %)(((
62 +**Note that when operated at lower voltages, torque and speed are reduced.**
63 +)))
64 +
65 += Working Envelope =
66 +
67 +{{lightbox image="LSS-3DOF-DIMENSIONS-Envelope.PNG" width="400"/}}
68 +
41 41  = What's Included =
42 42  
43 43  (% style="max-width:750px" %)
44 -|(% colspan="8" %)**Frame**
45 -|(% style="width:125px" %)2x A4WD3-FP|(% style="width:125px" %)2x A4WD3-SP|(% style="width:125px" %)1z A4WD3-TP|(% style="width:125px" %)1x A4WD3-BP|(% style="width:125px" %)1x A4WD3-EP|(% style="width:125px" %)2x A4WD3-FA-L|(% style="width:125px" %)4x A4WD3-FA-S|(% style="width:125px" %)2x
46 -|Front Plate|Side Plate|Top Plate|Bottom Plate|Electronic Plate|Large Access|Small Access|Transparent Access
47 -| | | | | | | |
72 +|(% colspan="6" %)**[[SES - Robots & Kits>>doc:servo-erector-set-robots-kits.WebHome]]**
73 +|1x LSS-BR-KT|1x SES-MG-KT| | | |
74 +|Base Rotate Kit|Mini Gripper Kit| | | |
75 +|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-assembly.WebHome@LSS-BR-KT-Ghost.PNG||alt="LSS-BR-KT"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.ses-mini-gripper.WebHome@SES-MG-KT.PNG||alt="SES-MG-KT"]]| | | |
76 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.WebHome]]**
77 +|3x LSS-ST1| | | | |
78 +|LSS Standard| | | | |
79 +|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-Horns.PNG||alt="LSS-ST1.png"]]| | | | |
80 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
81 +|1x LSS-ADA|1x LSS-2IO|1x LSS-5VR|1x BX-12006000-XT60|(((
82 +1x USBC-02
83 +)))|4x ZT-07in
84 +|LSS Adapter|2IO Module|5V Module|12V w/ XT60|USB to Mini B|7" Zip Tie
85 +|[[image:servo-erector-set-system.ses-electronics.ses-modules.lss-adapter-board.WebHome@LSS-ADA.png]]|[[image:servo-erector-set-system.ses-electronics.ses-modules.lss-2io-board.WebHome@LSS-2IO.PNG||alt="LSS-2IO"]]|[[image:servo-erector-set-system.ses-electronics.ses-modules.lss-5vr.WebHome@LSS-5VR.PNG||alt="LSS-5VR"]]|[[image:servo-erector-set-system.ses-electronics.ses-wall-adapters.WebHome@BX-12006000-XT60.PNG]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@USBC-02.PNG]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@ZT-07in.PNG||alt="ZT-07in"]]
86 +|3x LSS-C-100-S|1x LSS-C-150-Y|1x SEA-01|1x SEA-02| |
87 +|(((
88 +100mm Cable
89 +)))|150mm Y Cable|(((
90 +6in Extension
91 +)))|12in Extension| |
92 +|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@LSS-C-100.png||alt="LSS-C-100-S"]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@LSS-C-100Y.png||alt="LSS-C-150-Y"]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@SEA-01.PNG||alt="SEA-01"]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@SEA-02.PNG||alt="SEA-02"]]| |
93 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
94 +|2x ASB-28|1x ASB-43| | | |
95 +|LSS Single Wide|Mini C Bracket| | | |
96 +|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-28.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-43.PNG||alt="ASB-43"]]| | | |
97 +|(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
98 +|27x PHS-02|2x PHS-16|4x PHS-17|2x PHS-18|2x PHS-19|12x PHS-05
99 +|2-56 x 1/4"|M3 x 10mm|M3 x 20mm|M3 x 30mm|M3 x 40mm|2-56 x 1/2"
100 +|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-02.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-16.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-17.PNG||alt="PHS-17"]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-18.PNG||alt="PHS-18"]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-19.PNG||alt="PHS-19"]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-05.png||alt="PHS-19"]]
101 +|2x AHS-EC|15x PHTS-01|26x SW-04|8x SLN-03| |
102 +|Electronic Clip|#2 x 1/4"|3 x 5.6mm Washer|M3 Locknut| |
103 +|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@AHS-EC.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHTS-01.PNG||alt="PHTS-01"]]|[[image:servo-erector-set-system.ses-mechanics.ses-washers.WebHome@SW-04.png||alt="SW-04"]]|[[image:servo-erector-set-system.ses-mechanics.ses-nuts.WebHome@SLN-03.PNG||alt="SLN-03"]]| |
104 +|(% colspan="6" style="width:125px" %)**[[LSS - 3 DoF Parts>>doc:.3dof-arm-quickstart.3dof-parts.WebHome]]**
105 +|(% style="width:125px" %)(((
106 +1x
48 48  
49 -(% style="max-width:750px" %)
50 -|(% colspan="6" %)**Motors**
51 -|(% style="width:125px" %)4x |(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %)
52 -|DC Gear Motor| | | | |
53 -| | | | | |
108 +LSS-3DOF-L-01
109 +)))|(% style="width:125px" %)(((
110 +5x
54 54  
55 -(% style="max-width:750px" %)
56 -|(% colspan="6" %)**Mechanics**
57 -|(% style="width:125px" %)SHS-16|(% style="width:125px" %)SHS-17|(% style="width:125px" %)6x AHS-22-BA|(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %)
58 -|Socket M3 x 5mm|Socket M3 x 10mm|10mm M3 F/F Standoff|Hatch Screw|Hatch Nut|
59 -| | | | | |
112 +LSS-3DOF-L-02
113 +)))|(% style="width:125px" %)(((
114 +1x
60 60  
61 -(% style="max-width:750px" %)
62 -|(% colspan="6" %)**Miscellaneous**
63 -|(% style="width:125px" %)4x A4WD3-OS-16x8|(% style="width:125px" %)ORING-2MM|(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %)1x A4WD3-H|(% style="width:125px" %)
64 -|8mm Oil Seal|O-Ring Material|Power Harness|Velcro strap|Hatch|Hatch Gasket
65 -| | | | | |
116 +LSS-3DOF-L-03
117 +)))|(% style="width:125px" %)(((
118 +2x
119 +
120 +LSS-3DOF-L-04
121 +)))|(% style="width:125px" %)(((
122 +1x
123 +
124 +LSS-3DOF-L-05
125 +)))|(% style="width:125px" %)(((
126 +1x
127 +
128 +LSS-3DOF-L-06
129 +)))
130 +|(% style="width:125px" %)Link #1|(% style="width:125px" %)Link #2|(% style="width:125px" %)Link #3|(% style="width:125px" %)Link #4|(% style="width:125px" %)Link #5|(% style="width:125px" %)Link #6
131 +|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-link-01.PNG||alt="LSS-3DOF-L-01"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-link-02.PNG||alt="LSS-3DOF-L-02"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-link-03.PNG||alt="LSS-3DOF-L-03"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-link-04.PNG||alt="LSS-3DOF-L-04"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-link-05.PNG||alt="LSS-3DOF-L-05"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-link-06.PNG||alt="LSS-3DOF-L-06"]]
132 +|(((
133 +1x
134 +
135 +LSS-3DOF-BP
136 +)))|(((
137 +1x
138 +
139 +LSS-3DOF-BS
140 +)))|(((
141 +2x
142 +
143 +LSS-3DOF-CT-S
144 +)))|(((
145 +2x
146 +
147 +LSS-3DOF-CT-L
148 +)))| |
149 +|Base Plate|Back Support|Small Support|Large Support| |
150 +|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-base.PNG||alt="LSS-3DOF-BP"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-bs.PNG||alt="LSS-3DOF-BS"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-ct-s.PNG||alt="LSS-3DOF-CT-S"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-ct-l.PNG||alt="LSS-3DOF-CT-L"]]| |
A4WD3-KT.PNG
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