Changes for page AL5A Arm

Last modified by Eric Nantel on 2024/07/03 09:21
From version < 49.1 >
edited by Eric Nantel
on 2023/01/20 07:19
To version < 5.2 >
edited by Eric Nantel
on 2023/01/13 11:20
< >
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1 -[[image:al5a.jpg||queryString="width=350" alt="Lynxmotion AL5A Arm" width="350"]]
1 +[[image:A4WD3-KT.PNG||width="350"]]
2 2  
3 -[[[[image:[email protected]||alt="Buy Online"]]>>https://www.robotshop.com/collections/lynxmotion-al5a-robotic-arm-kits||rel="noopener noreferrer" target="_blank"]]
3 +[[[[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-a4wd3-rugged-rover-frame-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 -(% style="width:800px" %)
12 -|(((
13 -**About the Robot Arm**
14 -The AL5A robotic arm delivers fast, accurate, and repeatable movement. The robot features: base rotation, single plane shoulder, elbow, wrist motion, a functional gripper, and optional wrist rotate. The AL5A robotic arm is an affordable system with a time tested rock solid design that will last and last. Everything needed to assemble and operate the robot is included in the kit, with several different software control options.
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.
15 15  
16 -Note that we have tested the arm to hold at most <4oz at full reach without any additional products such as the wrist rotate upgrade installed on the arm (which decreases the payload). The lift capacity increases as the load is closer to the base, but depends on the configuration of the arm.
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.
17 17  
18 -**The Mechanics**
19 -The aluminum robotic arm is made from our Servo Erector Set components for the ultimate in flexibility and expandability. The kit consists of black anodized aluminum brackets, Aluminum tubing and hubs, custom injection molded components, and precision laser-cut Lexan components. The arm uses 1 x HS-422 in the base, 1 x HS-755HB in the shoulder, 1 x HS-645MG in the elbow, 1 x HS-422 in the wrist, and 1 x HS-422 in the gripper.
15 +The rover includes four powerful 12V DC motors coupled to 51:1 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.
20 20  
21 -**Arm Control Options**
22 -We now have arm control options. They each have their own unique operating methodology and feature sets.
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.
23 23  
24 -* [[FlowBotics Studio>>doc:ses-software.flowbotics.WebHome]] is an easy to use graphical program which allows you to easily get your AL5 robot up and running without the need to create code. Use the software to manipulate the real arm using the virtual arm, and create, record and play back your own sequences. Software allows for wrist rotation and additional servos.
25 -* [[FlowArm PLTW>>doc:ses-software.flowarm-pltw.WebHome]] provides a graphical interface for controlling the AL5A, AL5 and AL5D arms. You can also create and save sequences. It is a stand-alone .exe program which was created using FlowBotics Studio.
26 -* [[SSC-32 Servo Sequencer Utility>>doc:ses-software.ssc-32-sequencer.WebHome]]: a free interface which gives you control over each servo and allows you to create sequences.
27 -* Alternately the servo motors can be controlled directly from a microcontroller. We sell the arm without electronics for this purpose.
19 += Features =
28 28  
29 -**Important!**
30 -To keep costs down we are not providing printed Assembly Guides. They are provided online, so you will need to print them when you order the kits. By providing the Assembly Guides online we can provide more detailed and up to date information than the old hardcopy method allowed.
31 -)))
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
32 32  
33 -(% style="width:800px" %)
34 -|{{lightbox image="brat-01.jpg"/}}|{{lightbox image="brat-01.jpg"/}}|{{lightbox image="brat-01.jpg"/}}|{{lightbox image="brat-01.jpg"/}}|{{lightbox image="brat-01.jpg"/}}|{{lightbox image="brat-01.jpg"/}}
26 += Specifications =
35 35  
28 +**A4WD3 Chassis**
29 +
30 +* Weight: 3.12kg (6.89lbs)
31 +* Rating: Water and dust resistant
32 +* Chassis: Aluminum frame & G10 (fiberglass) Pannels
33 +
34 +**Motors**
35 +
36 +* Output Shaft: D-Shape 8mm
37 +* Operating Voltage: 12VDC
38 +* Gears: Metal planetary gear
39 +* Unload Speed: 170RPM (±10%)
40 +* Loaded Speed: 145RPM (±10%)
41 +* Torque: 11.5kg.cm (9.98lb.in)
42 +* Gear Ratio: 51:1
43 +* Current: ≤3A
44 +
45 +**Encoder**
46 +
47 +* Operating Voltage: 5V
48 +* Signal: Square wave AB 90 deg,
49 +* Pulse: 12 PPR
50 +* Frequency: 800kHz
51 +
52 += Dimensions =
53 +
54 +* Length: 320mm / 12.598"
55 +* Width: 241mm / 9.488"
56 +* Height: 78.5mm / 3.091"
57 +
58 +{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/WebHome/ROVER-A4WD3-FRAME-Dimensions.png" height="400"/}}
59 +
36 36  = User Guide =
37 37  
38 -* [[Arm Base Assembly Guide v2.1>>doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.arm-base-v-2-1.WebHome]]
39 -** [[Optional - Heavy Duty Metal Arm Base Assembly>>doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.heavy-duty-metal-arm-base.WebHome]]
40 -* [[AL5A Arm Assembly Instructions Rev. 2.1>>doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.al5a-arm-rev-2-1.WebHome]]
41 -* [[Light-Weight Wrist Rotate Assembly Guide>>doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.light-weight-wrist-rotate.WebHome]]
42 -** [[Optional - Medium-Duty Wrist Rotate Assembly Guide>>doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.medium-duty-wrist-rotate.WebHome]]
43 -** [[Optional - Heavy-Duty Wrist Rotate Assembly Guide>>doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.heavy-duty-wrist-rotate.WebHome]]
44 -* [[Arm Gripper FSR Assembly Guide>>doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.arm-gripper-fsr.WebHome]]
45 -** [[Optional - Pneumatic Syringe Assembly Instructions>>doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.pneumatic-syringe.WebHome]]
46 -** [[Optional - Vaccuum Gripper Wrist Rotate Assembly Guide>>doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.vaccuum-gripper-wrist-rotate.WebHome]]
47 -** [[Optional - Gripper Assembly Instructions>>doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.gripper-a.WebHome]]
62 +{{include context="NEW" reference="rover-kits.a4wd3-frame-only.a4wd3-frame-only-quickstart.WebHome"/}}
48 48  
49 -**Additional Information / Legacy**
64 += What's Included =
50 50  
51 -* [[Image>>attach:al5abd.jpg]] of parts and specs of arm
52 -* [[AL5 Programming Tutorial - PS2 & BotBoard II>>doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.al5-programming-tutorial-ps2-botboard.WebHome]]
53 -* [[AL5 Programming Tutorial - PS2 & BotBoarduino>>doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.al5-programming-tutorial-ps2-botboarduino.WebHome]]
54 -* [[doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-2dof-hexapods.the-complete-hexapod-2-tutorial.WebHome]]
55 -* [[A4WD1 & AL5 Arm Tutorial for PS2 Control>>doc:wheeled-tracked.a4wd1-al5-arm-for-ps2.WebHome]]
56 -* [[doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.controlling-arm-bot-board-basic-atom-ssc-32.WebHome]]
57 -* [[doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.controlling-arm-bot-board-basic-stamp-ssc-32.WebHome]]
58 -* [[doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.rios-ps2-to-usb.WebHome]]
59 -* [[Example code>>https://github.com/Lynxmotion/Arms/tree/Botboarduino]] for AL5 arms using Arduino sketches with BotBoarduino
60 -* [[Configuring RIOS for the AL5 Series Robot Arms>>doc:servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.rios-al5-series-robot-arms.WebHome]]
61 -* [[Users Manual for arms using SSC-32 and RIOS v1.06>>attach:[email protected]]]
66 +(% style="max-width:750px" %)
67 +|(% colspan="6" style="text-align:center; width:125px" %)**[[A4WD3 Parts>>doc:rover-kits.a4wd3-frame-only.a4wd3-frame-only-quickstart.a4wd3-parts.WebHome]]**
68 +|(% style="width:125px" %)2x - A4WD3-FP|(% style="width:125px" %)2x A4WD3-SP|(% style="width:125px" %)1x A4WD3-TP|(% style="width:125px" %)1x A4WD3-BP|(% style="width:125px" %)1x A4WD3-EP|(% style="width:125px" %)2x A4WD3-FA-L
69 +|Front Plate|Side Plate|Top Plate|Bottom Plate|Electronic Plate|Large Access
70 +|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-FP.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-SP.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-TP.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-BP.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-EP.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-FA-L.PNG"/}}
71 +|4x A4WD3-FA-S|4x A4WD3-FA-S-S|(((
72 +4x A4WD3-FA-S-Clear
73 +)))|6x A4WD3-H-G-6IN| |
74 +|Small Access|Access Surrounding|Transparent Access|Hatch Gasket| |
75 +|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-FA-S.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-FA-S-S.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-FA-S-Clear.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-H-G-6IN.PNG"/}}| |
76 +
77 +(% style="max-width:750px" %)
78 +|(% colspan="3" rowspan="1" style="text-align:center" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-screws.WebHome]]**|(% style="text-align:center" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**|(% style="text-align:center" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-nuts.WebHome]]**|(% style="text-align:center" %)
79 +|(% style="width:125px" %)60x SHS-16|(% style="width:125px" %)38x SHS-17|(% style="width:125px" %)6x FHS-02|(% style="width:125px" %)10x AHS-22-BA|(% style="width:125px" %)6x SLN-05|(% style="width:125px" %)
80 +|SHS M3 x 5mm|SHS M3 x 10mm|M5 x 16mm|Aluminum M3 x 10mm Standoff|M5 Lock Nut|
81 +|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/SHS-16.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/SHS-17.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/FHS-02.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-standoffs/WebHome/AHS-22.png"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-nuts/WebHome/SLN-05.PNG"/}}|
82 +
83 +(% style="max-width:750px" %)
84 +|(% colspan="6" style="text-align:center" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome]]**
85 +|(% style="width:125px" %)4x A4WD3-OS-16x8|(% style="width:125px" %)10ft ORING-2MM|(% style="width:125px" %)1x A4WD3-H-6IN|(% style="width:125px" %)20x ZIP-TIE-7IN|(% style="width:125px" %)2x VCS-09|(% style="width:125px" %)
86 +|8mm Oil Seal|O-Ring Material|Marine 6" Hatch|Cable Ties 7"|Velcro Strap|
87 +|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-miscellaneous/WebHome/A4WD3-OS-16x8.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-miscellaneous/WebHome/ORING-2MM.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-miscellaneous/WebHome/A4WD3-H-6IN.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-miscellaneous/WebHome/ZIP-TIE.png"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-miscellaneous/WebHome/VCS-09.PNG"/}}|
88 +
89 +(% style="max-width:750px" %)
90 +|(% style="width:125px" %)**[[doc:servo-erector-set-system.motors.brushed-dc-motors.WebHome]]**|(% colspan="2" rowspan="1" style="text-align:center; width:125px" %)**[[doc:servo-erector-set-system.tools.hex-keys.WebHome]]**|(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %)
91 +|(% style="width:125px" %)4x 36GP 540-51-EN|(% style="width:125px" %)1x HEX-2.5mm|(% style="width:125px" %)1x HEX-3mm|(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %)
92 +|12V Gear Motor|Hex Key 2.5mm|Hex Key 3mm| | |
93 +|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/motors/brushed-dc-motors/WebHome/36GP-555-27-EN.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/tools/hex-keys/WebHome/HEX-2.5mm.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/tools/hex-keys/WebHome/HEX-3mm.PNG"/}}| | |
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