3 DoF Robotic Arm

Last modified by Eric Nantel on 2022/06/30 08:05

LSS - Articulated Robotic Arm.jpg

Table of Contents

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 #1Gripper 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-3DOF-ISO.PNG

LSS 3 DoF Robotic Arm KIT steps:

LSS 3 DoF Robotic Arm Software:

LSS 3 DoF Robotic Arm Custom Parts

Actuators

LocationTypeStatic TorqueMax Speed
BaseST114Kg-cm360° /s
ShoulderST114Kg-cm360° /s
ElbowST114Kg-cm360° /s
GripperLRC1.5 Kg-cm0.10s / 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-KT1x SES-MG-KT    
Base Rotate KitMini Gripper Kit    
LSS-BR-KTSES-MG-KT    
Servos
3x LSS-ST1     
LSS Standard     
LSS-ST1.png     
Electronics
1x LSS-ADA1x LSS-2IO1x LSS-5VR1x BX-12006000-XT60

1x USBC-02

4x ZT-07in
LSS Adapter2IO Module5V Module12V w/ XT60USB to Mini B7" Zip Tie
LSS-ADA.pngLSS-2IOLSS-5VRBX-12006000-XT60.PNGUSBC-02.PNGZT-07in
3x LSS-C-100-S1x LSS-C-150-Y1x SEA-011x SEA-02  

100mm Cable

150mm Y Cable

6in Extension

12in Extension  
LSS-C-100-SLSS-C-150-YSEA-01SEA-02  
Brackets (SES)
2x ASB-281x ASB-43    
LSS Single WideMini C Bracket    
ASB-28.pngASB-43    
SES - Mechanics
27x PHS-022x PHS-164x PHS-172x PHS-182x PHS-1912x PHS-05
2-56 x 1/4"M3 x 10mmM3 x 20mmM3 x 30mmM3 x 40mm2-56 x 1/2"
PHS-02.pngPHS-16.pngPHS-17PHS-18PHS-19PHS-19
2x AHS-EC15x PHTS-0126x SW-048x SLN-03  
Electronic Clip#2 x 1/4"3 x 5.6mm WasherM3 Locknut  
AHS-EC.PNGPHTS-01SW-04SLN-03  
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 #1Link #2Link #3Link #4Link #5Link #6
LSS-3DOF-L-01LSS-3DOF-L-02LSS-3DOF-L-03LSS-3DOF-L-04LSS-3DOF-L-05LSS-3DOF-L-06

1x

LSS-3DOF-BP

1x

LSS-3DOF-BS

2x

LSS-3DOF-CT-S

2x

LSS-3DOF-CT-L

  
Base PlateBack SupportSmall SupportLarge Support  
LSS-3DOF-BPLSS-3DOF-BSLSS-3DOF-CT-SLSS-3DOF-CT-L  
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Created by Eric Nantel on 2020/02/14 10:48
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