Arm Gripper FSR Assembly Guide

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	4	<td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Arm Gripper FSR Assembly Guide.<br>
17.1	5	<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
16.1	6	bot="Timestamp" i-checksum="12514" endspan -->.</font></b></p>
	7	<p><font size="2" face="Verdana, Helvetica, sans-serif">This tutorial will guide you through the process of building and setting up your arm
	8	gripper sensor. The sensor used is a Force Sensing Resistor, FSR for short.</font></p>
	9	<p><font size="2" face="Verdana, Helvetica, sans-serif">The <a href="http://www.lynxmotion.com/showproduct.aspx?productID=627&CategoryID=8">FSR-01</a> kit includes one
	10	FSR and a rubber bumper. You will need to provide the following:</font></p>
	11	<p><font size="2" face="Verdana, Helvetica, sans-serif"> o 24" Servo Extender Cable (<a href="http://www.lynxmotion.com/showproduct.aspx?productID=227&CategoryID=44">SEA-03</a>)<br>
	12	o Electrical tape.<br>
	13	o Heat shrink.<br>
	14	o Solder.<br>
	15	o Nylon wire tie.<br>
	16	</font></p></td>
	17	<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>
	18	<font size="2"><b>Image of sensor on gripper.</b></font></font></td>
	19	</tr>
	20	<tr>
	21	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
	22	</tr>
	23	<tr>
	24	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 1.</strong><br>
	25	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
	26	done carefully the sensor can be damaged!</font></td>
	27	<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>
	28	Figure 1.</font></td>
	29	</tr>
	30	<tr>
	31	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
	32	</tr>
	33	<tr>
	34	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 2.</strong><br>
	35	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>
	36	<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>
	37	Figure 2.</font></td>
	38	</tr>
	39	<tr>
	40	<td valign="top" align="left" colspan="2"><br class="pb">
	41	</td>
	42	</tr>
	43	<tr>
	44	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 3.</strong><br>
	45	Cover the sensor with electrical tape. This will help hold it down.</font></td>
	46	<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>
	47	Figure 3.</font></td>
	48	</tr>
	49	<tr>
	50	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
	51	</tr>
	52	<tr>
	53	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 4.</strong><br>
	54	Peel an adhesive-coated bumper off of the paper, and stick it firmly over the sensor as shown.</font>
	55	<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>
	56	</td>
	57	<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>
	58	Figure 4.</font></td>
	59	</tr>
	60	<tr>
	61	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
	62	</tr>
	63	<tr>
	64	<td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 5.</b><br>
	65	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>
	66	to avoid shorts! </font>
	67	<ul>
	68	<li><font size="2" face="Verdana, Helvetica, sans-serif">For standalone arms, use the "Basic Config" section of Figure 5.</font></li>
	69	<li><font size="2" face="Verdana, Helvetica, sans-serif">For arms on A4WD1 rover, use the "Other Config" section of Figure 5.</font></li>
	70	</ul>
	71	</td>
	72	<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>
	73	<font size="2">Figure 5.</font></font></td>
	74	</tr>
	75	<tr>
	76	<td valign="top" align="left" colspan="2"><br class="pb">
	77	</td>
	78	</tr>
	79	<tr>
	80	<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>
	81	Refer to the following chart for expected pressure vs voltage values.</font></font>
	82	<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>
	83	</td>
	84	</tr>
	85	<tr>
	86	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> <br>
	87	</font></td>
	88	</tr>
	89	<tr>
	90	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 6.</strong><br>
	91	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
	92	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>
	93	<p><font face="Verdana" size="2">Mount the gripper onto the arm, and route the sensor wires.</font></p></td>
	94	<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>
	95	Figure 6.</font></td>
	96	</tr>
	97	<tr>
	98	<td valign="top" align="left" colspan="2"><br class="pb">
	99	</td>
	100	</tr>
	101	<tr>
	102	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 7.</strong><br>
	103	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.
	104	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
	105	(+), and the yellow wire in either A, B, C, or D, as shown in the diagram.</font>
	106	<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.
	107	Simply plug the cable in to AX0-AX3. Make sure the yellow wire goes toward the center of the board.</font></p></td>
	108	<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>
	109	Figure 7.</font></td>
	110	</tr>
	111	<tr>
	112	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
	113	</tr>
	114	<tr>
	115	<td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 8.</b><br>
	116	Now run RIOS. Click on the "SSC-32" button in the upper left corner of the screen.</font>
	117	<p><font size="2" face="Verdana, Helvetica, sans-serif">Select "A" on the sensor input corresponding to the pin you plugged the sensor
	118	into. You can gently press on the sensor to test connectivity. You should see a bar indicating sensor pressure.</font></p>
	119	<p><font size="2" face="Verdana, Helvetica, sans-serif">When you're done, save and exit this screen.</font></p></td>
	120	<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>
	121	<font size="2">Figure 8.</font></font></td>
	122	</tr>
	123	<tr>
	124	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
	125	</tr>
	126	<tr>
	127	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 9.</strong><br>
	128	Click on the "Moves" button. In the lower left corner, press the black + in the projects section to create a new project.</font>
	129	<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
	130	green + in the step section to add the closed gripper as a new step.</font></p>
	131	<p><font face="Verdana" size="2">Change the "no input action" drop down to "stop this step", and select the input
	132	corresponding to the pin your sensor is plugged into.</font></p></td>
	133	<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>
	134	Figure 9.</font></td>
	135	</tr>
	136	<tr>
	137	<td valign="top" align="left" colspan="2"><br class="pb">
	138	</td>
	139	</tr>
	140	<tr>
	141	<td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 10.</b><br>
	142	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
	143	section. When gripper load is enabled, the gripper picture will be holding a red ball.</font>
	144	<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
	145	is disabled. This allows the arm to skip gripper-open and gripper-close steps until the object is deposited.</font></p></td>
	146	<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>
	147	<font size="2">Figure 10.</font></font></td>
	148	</tr>
	149	<tr>
	150	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
	151	</tr>
	152	<tr>
	153	<td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 11.</b><br>
	154	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
	155	the opened gripper as a new step.</font>
	156	<p><font size="2" face="Verdana, Helvetica, sans-serif">Now disable gripper load. This will allow the gripper to open again.</font></p>
	157	<p><font size="2" face="Verdana, Helvetica, sans-serif">Click on "Play" in the lower right corner.</font></p></td>
	158	<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>
	159	<font size="2">Figure 11.</font></font></td>
	160	</tr>
	161	<tr>
	162	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
	163	</tr>
	164	<tr>
	165	<td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 12.</b><br>
	166	Now you can press the "Play" button in the upper left corner, and test your project.</font>
	167	<p><font size="2" face="Verdana, Helvetica, sans-serif">When the gripper starts to close, put an object inside, or press against the sensor.
	168	Once the threshold has been reached, the gripper will stop closing, and will start to open.</font></p>
	169	<p><font size="2" face="Verdana, Helvetica, sans-serif">If you need to adjust the threshold, click the "Exit" button, and change the
	170	value in the Inputs section of Step 2.</font></p>
	171	<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>
	172	<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>
	173	<font size="2">Figure 12.</font></font></td>
	174	</tr>
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