Changes for page FlowArm LSS
Last modified by Eric Nantel on 2024/07/03 09:39
Change comment: Upload new image "lss-flowarm-gripper-view-3dof.png", version 1.1
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... ... @@ -29,7 +29,6 @@ 29 29 Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software. 30 30 31 31 (% style="width:700px" %) 32 -|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm ** 33 33 |{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-4dof-arm/4dof-arm-quickstart/4dof-servo-setup/WebHome/SESV2-LSS-ARTICULATED-ARM-IDS.PNG" width="350"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-3-dof-arm/3dof-arm-quickstart/3dof-servo-setup/WebHome/LSS-3DOF-IDS.PNG?=" width="350"/}} 34 34 35 35 To do so, the [[LSS Configuration Software>>doc:lynxmotion-smart-servo.lss-configuration-software.WebHome]] is used. Follow the procedure outlined here: [[doc:lynxmotion-smart-servo.lss-configuration-software.lss-config-configure-ids.WebHome]] ... ... @@ -48,7 +48,6 @@ 48 48 1. Connect the power to the LSS Adapter via the yellow XT60 plug 49 49 1. Power on the robot (On/Off switch) 50 50 1. Start the LSS FlowArm software 51 -1. Select the type of LSS Arm you are using (3 DoF / 4 DoF) 52 52 1. Select the appropriate COM port from the drop-down list & the baudrate (115200) 53 53 1. The software sends a query to servo ID1 and once a reply is received, it determines connection has been established. 54 54 ... ... @@ -78,8 +78,7 @@ 78 78 * Wrist servo along R axis (parallel to elbow to wrist) 79 79 * Gripper servo closed 80 80 81 -|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**LSS - 4 DoF Arm **|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**LSS - 3 DoF Arm ** 82 -|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left.png||alt="lss-flowarm-left.png" width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-top.png||alt="lss-flowarm-top.png" width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left-3dof.png||alt="lss-flowarm-left-3dof.png" width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-top-3dof.png||alt="lss-flowarm-left-3dof.png" width="200"]] 79 +|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left.png||alt="lss-flowarm-left.png" height="300" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-top.png||alt="lss-flowarm-top.png" height="300" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-left-3dof.png||height="300" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-top-3dof.png||alt="lss-flowarm-left-3dof.png" height="300" width="300"]] 83 83 84 84 === Limp === 85 85 ... ... @@ -134,9 +134,7 @@ 134 134 135 135 A, D: Left & right (closer / farther from base) 136 136 137 -(% style="width:700px" %) 138 -|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm ** 139 -|(% style="text-align:center" %)[[image:lss-flowarm-left.png||width="300"]]|(% style="text-align:center" %)[[image:lss-flowarm-left-3dof.png||alt="lss-flowarm-left.png" width="300"]] 134 +[[image:lss-flowarm-left.png||width="300"]] 140 140 141 141 === Top view === 142 142 ... ... @@ -148,9 +148,7 @@ 148 148 149 149 ◄►: Along X 150 150 151 -(% style="width:700px" %) 152 -|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm ** 153 -|(% style="text-align:center" %)[[image:lss-flowarm-top.png||width="300"]]|(% style="text-align:center" %)[[image:lss-flowarm-top-3dof.png||alt="lss-flowarm-top.png" width="300"]] 146 +[[image:lss-flowarm-top.png||width="300"]] 154 154 155 155 == Shortcuts == 156 156 ... ... @@ -174,16 +174,13 @@ 174 174 175 175 Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. We added a feature where the servo stop when it feel a current raising, this allows the user to ask for a full close and have a good grip on the item picked. 176 176 177 -(% style="width:700px" %) 178 -|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm ** 179 -|(% style="text-align:center" %)[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]|(% style="text-align:center" %)[[image:lss-flowarm-gripper-view-3dof.png||alt="lss-flowarm-gripper-view.jpg"]] 170 +[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]] 180 180 181 181 === Wrist === 182 182 183 183 The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows. 184 184 185 -|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**LSS - 4 DoF Arm **|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**LSS - 3 DoF Arm ** 186 -|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-angle-view.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-view-3dof.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-angle-view-3dof.png||alt="lss-flowarm-wrist-view.jpg"]] 176 +[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]] 187 187 188 188 === End effector position === 189 189
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