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1 1  {{html wiki="false" clean="true"}}
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 <a>James Frye</a></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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