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2 +<body><table border="0" cellpadding="0" cellspacing="0" >
3 + <tbody><tr>
4 + <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Arm Gripper FSR Assembly Guide.<br>
5 + </b>By James Frye</font>
6 + <p><b><font size="2" face="Verdana, Helvetica, sans-serif">Updated <!--webbot bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" -->06/10/2009<!--webbot
7 + bot="Timestamp" i-checksum="12514" endspan -->.</font></b></p>
8 + <p><font size="2" face="Verdana, Helvetica, sans-serif">This tutorial will guide you through the process of building and setting up your arm
9 + gripper sensor. The sensor used is a Force Sensing Resistor, FSR for short.</font></p>
10 + <p><font size="2" face="Verdana, Helvetica, sans-serif">The <a href="http://www.lynxmotion.com/showproduct.aspx?productID=627&amp;CategoryID=8">FSR-01</a> kit includes one
11 + FSR and a rubber bumper. You will need to provide the following:</font></p>
12 + <p><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;o 24" Servo Extender Cable (<a href="http://www.lynxmotion.com/showproduct.aspx?productID=227&amp;CategoryID=44">SEA-03</a>)<br>
13 + &nbsp;o Electrical tape.<br>
14 + &nbsp;o Heat shrink.<br>
15 + &nbsp;o Solder.<br>
16 + &nbsp;o Nylon wire tie.<br>
17 + &nbsp;</font></p></td>
18 + <td align="center" valign="top" width="320"><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/WebHome/grips00.jpg" border="2" hspace="10" width="320" height="240"><br>
19 + <font size="2"><b>Image of sensor on gripper.</b></font></font></td>
20 + </tr>
21 + <tr>
22 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
23 + </tr>
24 + <tr>
25 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 1.</strong><br>
26 + Use an exacto knife to carefully peel away the <b>CLEAR plastic </b>piece covering the black adhesive. <b>Be very careful doing this!</b> If not
27 + done carefully the sensor can be damaged!</font></td>
28 + <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/WebHome/fsrft04.jpg" border="2" hspace="10" width="320" height="240"><br>
29 + Figure 1.</font></td>
30 + </tr>
31 + <tr>
32 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
33 + </tr>
34 + <tr>
35 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 2.</strong><br>
36 + Stick the adhesive side of the sensor to the inside of the gripper as shown. Make sure you position the sensor between the screw holes.</font></td>
37 + <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/WebHome/grips01.jpg" border="2" hspace="10" width="320" height="240"><br>
38 + Figure 2.</font></td>
39 + </tr>
40 + <tr>
41 + <td valign="top" align="left" colspan="2"><br class="pb">
42 + </td>
43 + </tr>
44 + <tr>
45 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 3.</strong><br>
46 + Cover the sensor with electrical tape. This will help hold it down.</font></td>
47 + <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/WebHome/grips02.jpg" border="2" hspace="10" width="320" height="240"><br>
48 + Figure 3.</font></td>
49 + </tr>
50 + <tr>
51 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
52 + </tr>
53 + <tr>
54 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 4.</strong><br>
55 + Peel an adhesive-coated bumper off of the paper, and stick it firmly over the sensor as shown.</font>
56 + <p><font face="Verdana" size="2">Note, this should be centered precisely on top of the FSR. We chose clear rubber bumpers to make this easier.</font></p>
57 + </td>
58 + <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/WebHome/grips03.jpg" border="2" hspace="10" width="320" height="240"><br>
59 + Figure 4.</font></td>
60 + </tr>
61 + <tr>
62 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
63 + </tr>
64 + <tr>
65 + <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 5.</b><br>
66 + There are several ways to use an FSR. Depending on how you set up the FSR, the values returned will be different. <b>Remember to use heat shrink</b>
67 + to avoid shorts! </font>
68 + <ul>
69 + <li><font size="2" face="Verdana, Helvetica, sans-serif">For standalone arms, use the "Basic Config" section of Figure 5.</font></li>
70 + <li><font size="2" face="Verdana, Helvetica, sans-serif">For arms on A4WD1 rover, use the "Other Config" section of Figure 5.</font></li>
71 + </ul>
72 + </td>
73 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/WebHome/diag01.jpg" border="2" hspace="10" width="320" height="240"><br>
74 + <font size="2">Figure 5.</font></font></td>
75 + </tr>
76 + <tr>
77 + <td valign="top" align="left" colspan="2"><br class="pb">
78 + </td>
79 + </tr>
80 + <tr>
81 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Sensor Output Chart</b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">.</font></b><font size="2"><br>
82 + Refer to the following chart for expected pressure vs voltage values.</font></font>
83 + <p align="center"><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/WebHome/chart01.jpg" border="2" hspace="10" width="480" height="361"></font></p>
84 + </td>
85 + </tr>
86 + <tr>
87 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;<br>
88 + &nbsp;</font></td>
89 + </tr>
90 + <tr>
91 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 6.</strong><br>
92 + Attach two 3mm screws in the screw holes as shown. Don't tighten them too much, or the sensor will bend. Carefully bend the sensor wires to lie
93 + between the screws. Make sure you don't try to bend the sensor tail too sharply! Secure the sensor tail and wires with a wire tie as shown.</font>
94 + <p><font face="Verdana" size="2">Mount the gripper onto the arm, and route the sensor wires.</font></p></td>
95 + <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/WebHome/grips05.jpg" border="2" hspace="10" width="320" height="240"><br>
96 + Figure 6.</font></td>
97 + </tr>
98 + <tr>
99 + <td valign="top" align="left" colspan="2"><br class="pb">
100 + </td>
101 + </tr>
102 + <tr>
103 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 7.</strong><br>
104 + For this tutorial, we'll be plugging the sensor wires into the SSC-32, for RIOS. This means a slight modification of the cable is necessary.
105 + Simply remove the yellow wire from the housing, and cover it with heat shrink to prevent shorts. Now plug the black wire in (-), the red wire in
106 + (+), and the yellow wire in either A, B, C, or D, as shown in the diagram.</font>
107 + <p><font face="Verdana" size="2">If you're not using RIOS and are using a Bot Board instead of an SSC-32, no cable modification is needed.
108 + Simply plug the cable in to AX0-AX3. Make sure the yellow wire goes toward the center of the board.</font></p></td>
109 + <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/WebHome/diag02.jpg" border="2" hspace="10" width="320" height="240"><br>
110 + Figure 7.</font></td>
111 + </tr>
112 + <tr>
113 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
114 + </tr>
115 + <tr>
116 + <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 8.</b><br>
117 + Now run RIOS. Click on the "SSC-32" button in the upper left corner of the screen.</font>
118 + <p><font size="2" face="Verdana, Helvetica, sans-serif">Select "A" on the sensor input corresponding to the pin you plugged the sensor
119 + into. You can gently press on the sensor to test connectivity. You should see a bar indicating sensor pressure.</font></p>
120 + <p><font size="2" face="Verdana, Helvetica, sans-serif">When you're done, save and exit this screen.</font></p></td>
121 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/WebHome/rios01.jpg" border="2" hspace="10" width="320" height="240"><br>
122 + <font size="2">Figure 8.</font></font></td>
123 + </tr>
124 + <tr>
125 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
126 + </tr>
127 + <tr>
128 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 9.</strong><br>
129 + Click on the "Moves" button. In the lower left corner, press the black + in the projects section to create a new project.</font>
130 + <p><font face="Verdana" size="2">Now use the gripper close button in the upper right corner to close the robot's gripper completely. Press the
131 + green + in the step section to add the closed gripper as a new step.</font></p>
132 + <p><font face="Verdana" size="2">Change the "no input action" drop down to "stop this step", and select the input
133 + corresponding to the pin your sensor is plugged into.</font></p></td>
134 + <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/WebHome/rios02.jpg" border="2" hspace="10" width="321" height="240"><br>
135 + Figure 9.</font></td>
136 + </tr>
137 + <tr>
138 + <td valign="top" align="left" colspan="2"><br class="pb">
139 + </td>
140 + </tr>
141 + <tr>
142 + <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 10.</b><br>
143 + Press the green + in the step section to create a new step. Now enable "gripper load" - it's the gripper button just above the Outputs
144 + section. When gripper load is enabled, the gripper picture will be holding a red ball.</font>
145 + <p><font size="2" face="Verdana, Helvetica, sans-serif">While gripper load is enabled, the gripper won't open or close again until gripper load
146 + is disabled. This allows the arm to skip gripper-open and gripper-close steps until the object is deposited.</font></p></td>
147 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/WebHome/rios03.jpg" border="2" hspace="10" width="321" height="240"><br>
148 + <font size="2">Figure 10.</font></font></td>
149 + </tr>
150 + <tr>
151 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
152 + </tr>
153 + <tr>
154 + <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 11.</b><br>
155 + Use the the gripper open button in the upper right corner to open the robot's gripper completely. Press the green + in the step section to add
156 + the opened gripper as a new step.</font>
157 + <p><font size="2" face="Verdana, Helvetica, sans-serif">Now disable gripper load. This will allow the gripper to open again.</font></p>
158 + <p><font size="2" face="Verdana, Helvetica, sans-serif">Click on "Play" in the lower right corner.</font></p></td>
159 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/WebHome/rios04.jpg" border="2" hspace="10" width="321" height="240"><br>
160 + <font size="2">Figure 11.</font></font></td>
161 + </tr>
162 + <tr>
163 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
164 + </tr>
165 + <tr>
166 + <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 12.</b><br>
167 + Now you can press the "Play" button in the upper left corner, and test your project.</font>
168 + <p><font size="2" face="Verdana, Helvetica, sans-serif">When the gripper starts to close, put an object inside, or press against the sensor.
169 + Once the threshold has been reached, the gripper will stop closing, and will start to open.</font></p>
170 + <p><font size="2" face="Verdana, Helvetica, sans-serif">If you need to adjust the threshold, click the "Exit" button, and change the
171 + value in the Inputs section of Step 2.</font></p>
172 + <p><font size="2" face="Verdana, Helvetica, sans-serif">For a more complex example, you can load up the project "Demo 09 Grip Close".</font></p></td>
173 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/WebHome/rios05.jpg" border="2" hspace="10" width="321" height="240"><br>
174 + <font size="2">Figure 12.</font></font></td>
175 + </tr>
176 +</tbody></table>
177 +</body>
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