Arm Gripper FSR Assembly Guide

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<h1 class="asm">Arm Gripper FSR Assembly Guide</h1>

39

<p><b>By James Frye — Updated June 10, 2009</b></p>

40

<p>This tutorial guides you through the process of building and setting up your arm gripper sensor. The sensor used is a Force Sensing Resistor (FSR).</p>

41

<p>The FSR-01 kit includes one FSR and a rubber bumper. You will also need to provide: 24" Servo Extender Cable (SEA-03), electrical tape, heat shrink, solder, and a nylon wire tie.</p>

</div>

<p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Sensor on gripper.</b></p>

</div>

</div>

<div class="asm-step-name">FSR — Peel Protective Cover</div>

</div>

<p>Use an exacto knife to carefully peel away the <b>clear plastic</b> piece covering the black adhesive. <span class="asm-warning">Be very careful — if not done carefully the sensor can be damaged!</span></p>

</div>

<span>Figure 1.</span>

</div>

</div>

</div>

<div class="asm-step-name">FSR — Stick Sensor to Gripper</div>

</div>

<p>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.</p>

</div>

<span>Figure 2.</span>

</div>

</div>

</div>

<div class="asm-step-name">FSR — Cover with Electrical Tape</div>

</div>

<p>Cover the sensor with electrical tape. This will help hold it down.</p>

</div>

<span>Figure 3.</span>

</div>

</div>

</div>

<div class="asm-step-name">FSR — Attach Rubber Bumper</div>

</div>

<p>Peel an adhesive-coated bumper off of the paper and stick it firmly over the sensor as shown. Centre it precisely on top of the FSR — clear rubber bumpers are used to make this easier.</p>

</div>

<span>Figure 4.</span>

</div>

</div>

</div>

<div class="asm-step-name">FSR — Wire the Sensor</div>

</div>

<p>There are several ways to use an FSR. Depending on the configuration, the values returned will differ. <span class="asm-warning">Remember to use heat shrink to avoid shorts!</span></p>

126

127

<li>For standalone arms, use the <b>Basic Config</b> section of Figure 5.</li>

128

<li>For arms on an A4WD1 rover, use the <b>Other Config</b> section of Figure 5.</li>

</ul>

</div>

<span>Figure 5 — Wiring diagram.</span>

</div>

</div>

</div>

139

140

141

<div class="asm-step-name">FSR — Sensor Output Chart</div>

</div>

<p>Refer to the following chart for expected pressure vs. voltage values.</p>

</div>

<span>Pressure vs. voltage chart.</span>

</div>

</div>

</div>

<div class="asm-step-name">FSR — Mount Sensor & Route Wires</div>

</div>

<p>Attach two 3mm screws in the screw holes as shown. Don't tighten too much or the sensor will bend. Carefully bend the sensor wires to lie between the screws — do not bend the sensor tail too sharply. Secure the sensor tail and wires with a wire tie as shown.</p>

164

<p>Mount the gripper onto the arm and route the sensor wires.</p>

</div>

<span>Figure 6.</span>

</div>

</div>

</div>

<div class="asm-step-name">FSR — Connect Sensor to SSC-32 or Bot Board</div>

</div>

<p><b>For RIOS / SSC-32:</b> Remove the yellow wire from the housing and cover it with heat shrink to prevent shorts. Plug the black wire into (−), the red wire into (+), and the white wire into input A, B, C, or D as shown in the diagram.</p>

182

<p><b>For Bot Board (no RIOS):</b> No cable modification needed. Plug the cable into AX0–AX3. Ensure the yellow wire goes toward the centre of the board.</p>

</div>

<span>Figure 7 — Connection diagram.</span>

</div>

</div>

</div>

<div class="asm-step-name">FSR — Configure Sensor Input in RIOS</div>

</div>

<span class="asm-optional">RIOS Users Only</span>

200

<p>Run RIOS and click the "SSC-32" button in the upper left corner. Select "A" on the sensor input corresponding to the pin you plugged the sensor into. Gently press the sensor to test connectivity — you should see a bar indicating sensor pressure. Save and exit when done.</p>

</div>

<span>Figure 8.</span>

</div>

</div>

</div>

<div class="asm-step-name">FSR — Create Gripper Close Step in RIOS</div>

</div>

<span class="asm-optional">RIOS Users Only</span>

218

<p>Click "Moves". Press the black + in the projects section to create a new project. Use the gripper close button (upper right) to close the gripper completely, then press the green + in the step section to add this as a new step.</p>

219

<p>Change the "no input action" dropdown to "stop this step" and select the input corresponding to the pin your sensor is plugged into.</p>

</div>

<span>Figure 9.</span>

</div>

</div>

</div>

<div class="asm-step-name">FSR — Enable Gripper Load in RIOS</div>

</div>

<span class="asm-optional">RIOS Users Only</span>

237

<p>Press the green + in the step section to create a new step. Enable "gripper load" — the gripper button just above the Outputs section. When enabled, the gripper picture will show a red ball being held.</p>

238

<p>While gripper load is enabled, the gripper will not open or close again until it is disabled. This allows the arm to skip gripper steps until the object is deposited.</p>

</div>

<span>Figure 10.</span>

</div>

</div>

</div>

<div class="asm-step-name">FSR — Create Gripper Open Step in RIOS</div>

</div>

<span class="asm-optional">RIOS Users Only</span>

256

<p>Use the gripper open button (upper right) to open the gripper completely. Press the green + in the step section to add the opened gripper as a new step. Now disable gripper load — this will allow the gripper to open again. Click "Play" in the lower right corner.</p>

</div>

<span>Figure 11.</span>

</div>

</div>

</div>

<div class="asm-step-name">FSR — Test the Project in RIOS</div>

</div>

<span class="asm-optional">RIOS Users Only</span>

274

<p>Press the "Play" button (upper left) and test your project. When the gripper starts to close, place an object inside or press against the sensor. Once the threshold is reached, the gripper will stop closing and begin to open.</p>

275

<p>To adjust the threshold, click "Exit" and change the value in the Inputs section of Step 2. For a more complex example, load the project <b>"Demo 09 Grip Close"</b>.</p>

</div>

<span>Figure 12.</span>

</div>

</div>

</div>

</div>

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33	<div class="asm">
34
35	<!-- Header -->
36	<div style="padding: 0.5rem 0 1rem 0; display:flex; flex-wrap:wrap; gap:1.5rem; align-items:flex-start;">
37	<div style="flex:1 1 300px;">
38	<h1 class="asm">Arm Gripper FSR Assembly Guide</h1>
39	<p><b>By James Frye — Updated June 10, 2009</b></p>
40	<p>This tutorial guides you through the process of building and setting up your arm gripper sensor. The sensor used is a Force Sensing Resistor (FSR).</p>
41	<p>The FSR-01 kit includes one FSR and a rubber bumper. You will also need to provide: 24" Servo Extender Cable (SEA-03), electrical tape, heat shrink, solder, and a nylon wire tie.</p>
42	</div>
43	<div style="text-align:center; flex:0 1 280px;">
44	<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" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
45	<p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Sensor on gripper.</b></p>
46	</div>
47	</div>
48
49	<!-- Step 1 -->
50	<div class="asm-step">
51	<div class="asm-step-header">
52	<div class="asm-step-name">FSR — Peel Protective Cover</div>
53	<div class="asm-step-num">Step 1 / 12</div>
54	</div>
55	<div class="asm-step-body">
56	<div class="asm-step-text">
57	<p>Use an exacto knife to carefully peel away the <b>clear plastic</b> piece covering the black adhesive. <span class="asm-warning">Be very careful — if not done carefully the sensor can be damaged!</span></p>
58	</div>
59	<div class="asm-step-figure">
60	<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">
61	<span>Figure 1.</span>
62	</div>
63	</div>
64	</div>
65
66	<!-- Step 2 -->
67	<div class="asm-step">
68	<div class="asm-step-header">
69	<div class="asm-step-name">FSR — Stick Sensor to Gripper</div>
70	<div class="asm-step-num">Step 2 / 12</div>
71	</div>
72	<div class="asm-step-body">
73	<div class="asm-step-text">
74	<p>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.</p>
75	</div>
76	<div class="asm-step-figure">
77	<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">
78	<span>Figure 2.</span>
79	</div>
80	</div>
81	</div>
82
83	<!-- Step 3 -->
84	<div class="asm-step">
85	<div class="asm-step-header">
86	<div class="asm-step-name">FSR — Cover with Electrical Tape</div>
87	<div class="asm-step-num">Step 3 / 12</div>
88	</div>
89	<div class="asm-step-body">
90	<div class="asm-step-text">
91	<p>Cover the sensor with electrical tape. This will help hold it down.</p>
92	</div>
93	<div class="asm-step-figure">
94	<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">
95	<span>Figure 3.</span>
96	</div>
97	</div>
98	</div>
99
100	<!-- Step 4 -->
101	<div class="asm-step">
102	<div class="asm-step-header">
103	<div class="asm-step-name">FSR — Attach Rubber Bumper</div>
104	<div class="asm-step-num">Step 4 / 12</div>
105	</div>
106	<div class="asm-step-body">
107	<div class="asm-step-text">
108	<p>Peel an adhesive-coated bumper off of the paper and stick it firmly over the sensor as shown. Centre it precisely on top of the FSR — clear rubber bumpers are used to make this easier.</p>
109	</div>
110	<div class="asm-step-figure">
111	<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">
112	<span>Figure 4.</span>
113	</div>
114	</div>
115	</div>
116
117	<!-- Step 5 -->
118	<div class="asm-step">
119	<div class="asm-step-header">
120	<div class="asm-step-name">FSR — Wire the Sensor</div>
121	<div class="asm-step-num">Step 5 / 12</div>
122	</div>
123	<div class="asm-step-body">
124	<div class="asm-step-text">
125	<p>There are several ways to use an FSR. Depending on the configuration, the values returned will differ. <span class="asm-warning">Remember to use heat shrink to avoid shorts!</span></p>
126	<ul style="margin-top:0.5rem; padding-left:1.2rem;">
127	<li>For standalone arms, use the <b>Basic Config</b> section of Figure 5.</li>
128	<li>For arms on an A4WD1 rover, use the <b>Other Config</b> section of Figure 5.</li>
129	</ul>
130	</div>
131	<div class="asm-step-figure">
132	<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">
133	<span>Figure 5 — Wiring diagram.</span>
134	</div>
135	</div>
136	</div>
137
138	<!-- Sensor Output Chart -->
139	<div class="asm-step">
140	<div class="asm-step-header">
141	<div class="asm-step-name">FSR — Sensor Output Chart</div>
142	<div class="asm-step-num"> </div>
143	</div>
144	<div class="asm-step-body">
145	<div class="asm-step-text">
146	<p>Refer to the following chart for expected pressure vs. voltage values.</p>
147	</div>
148	<div class="asm-step-figure" style="flex: 0 1 480px;">
149	<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">
150	<span>Pressure vs. voltage chart.</span>
151	</div>
152	</div>
153	</div>
154
155	<!-- Step 6 -->
156	<div class="asm-step">
157	<div class="asm-step-header">
158	<div class="asm-step-name">FSR — Mount Sensor & Route Wires</div>
159	<div class="asm-step-num">Step 6 / 12</div>
160	</div>
161	<div class="asm-step-body">
162	<div class="asm-step-text">
163	<p>Attach two 3mm screws in the screw holes as shown. Don't tighten too much or the sensor will bend. Carefully bend the sensor wires to lie between the screws — do not bend the sensor tail too sharply. Secure the sensor tail and wires with a wire tie as shown.</p>
164	<p>Mount the gripper onto the arm and route the sensor wires.</p>
165	</div>
166	<div class="asm-step-figure">
167	<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">
168	<span>Figure 6.</span>
169	</div>
170	</div>
171	</div>
172
173	<!-- Step 7 -->
174	<div class="asm-step">
175	<div class="asm-step-header">
176	<div class="asm-step-name">FSR — Connect Sensor to SSC-32 or Bot Board</div>
177	<div class="asm-step-num">Step 7 / 12</div>
178	</div>
179	<div class="asm-step-body">
180	<div class="asm-step-text">
181	<p><b>For RIOS / SSC-32:</b> Remove the yellow wire from the housing and cover it with heat shrink to prevent shorts. Plug the black wire into (−), the red wire into (+), and the white wire into input A, B, C, or D as shown in the diagram.</p>
182	<p><b>For Bot Board (no RIOS):</b> No cable modification needed. Plug the cable into AX0–AX3. Ensure the yellow wire goes toward the centre of the board.</p>
183	</div>
184	<div class="asm-step-figure">
185	<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">
186	<span>Figure 7 — Connection diagram.</span>
187	</div>
188	</div>
189	</div>
190
191	<!-- Step 8 -->
192	<div class="asm-step">
193	<div class="asm-step-header">
194	<div class="asm-step-name">FSR — Configure Sensor Input in RIOS</div>
195	<div class="asm-step-num">Step 8 / 12</div>
196	</div>
197	<div class="asm-step-body">
198	<div class="asm-step-text">
199	<span class="asm-optional">RIOS Users Only</span>
200	<p>Run RIOS and click the "SSC-32" button in the upper left corner. Select "A" on the sensor input corresponding to the pin you plugged the sensor into. Gently press the sensor to test connectivity — you should see a bar indicating sensor pressure. Save and exit when done.</p>
201	</div>
202	<div class="asm-step-figure">
203	<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">
204	<span>Figure 8.</span>
205	</div>
206	</div>
207	</div>
208
209	<!-- Step 9 -->
210	<div class="asm-step">
211	<div class="asm-step-header">
212	<div class="asm-step-name">FSR — Create Gripper Close Step in RIOS</div>
213	<div class="asm-step-num">Step 9 / 12</div>
214	</div>
215	<div class="asm-step-body">
216	<div class="asm-step-text">
217	<span class="asm-optional">RIOS Users Only</span>
218	<p>Click "Moves". Press the black + in the projects section to create a new project. Use the gripper close button (upper right) to close the gripper completely, then press the green + in the step section to add this as a new step.</p>
219	<p>Change the "no input action" dropdown to "stop this step" and select the input corresponding to the pin your sensor is plugged into.</p>
220	</div>
221	<div class="asm-step-figure">
222	<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">
223	<span>Figure 9.</span>
224	</div>
225	</div>
226	</div>
227
228	<!-- Step 10 -->
229	<div class="asm-step">
230	<div class="asm-step-header">
231	<div class="asm-step-name">FSR — Enable Gripper Load in RIOS</div>
232	<div class="asm-step-num">Step 10 / 12</div>
233	</div>
234	<div class="asm-step-body">
235	<div class="asm-step-text">
236	<span class="asm-optional">RIOS Users Only</span>
237	<p>Press the green + in the step section to create a new step. Enable "gripper load" — the gripper button just above the Outputs section. When enabled, the gripper picture will show a red ball being held.</p>
238	<p>While gripper load is enabled, the gripper will not open or close again until it is disabled. This allows the arm to skip gripper steps until the object is deposited.</p>
239	</div>
240	<div class="asm-step-figure">
241	<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">
242	<span>Figure 10.</span>
243	</div>
244	</div>
245	</div>
246
247	<!-- Step 11 -->
248	<div class="asm-step">
249	<div class="asm-step-header">
250	<div class="asm-step-name">FSR — Create Gripper Open Step in RIOS</div>
251	<div class="asm-step-num">Step 11 / 12</div>
252	</div>
253	<div class="asm-step-body">
254	<div class="asm-step-text">
255	<span class="asm-optional">RIOS Users Only</span>
256	<p>Use the gripper open button (upper right) to open the gripper completely. Press the green + in the step section to add the opened gripper as a new step. Now disable gripper load — this will allow the gripper to open again. Click "Play" in the lower right corner.</p>
257	</div>
258	<div class="asm-step-figure">
259	<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">
260	<span>Figure 11.</span>
261	</div>
262	</div>
263	</div>
264
265	<!-- Step 12 -->
266	<div class="asm-step">
267	<div class="asm-step-header">
268	<div class="asm-step-name">FSR — Test the Project in RIOS</div>
269	<div class="asm-step-num">Step 12 / 12</div>
270	</div>
271	<div class="asm-step-body">
272	<div class="asm-step-text">
273	<span class="asm-optional">RIOS Users Only</span>
274	<p>Press the "Play" button (upper left) and test your project. When the gripper starts to close, place an object inside or press against the sensor. Once the threshold is reached, the gripper will stop closing and begin to open.</p>
275	<p>To adjust the threshold, click "Exit" and change the value in the Inputs section of Step 2. For a more complex example, load the project <b>"Demo 09 Grip Close"</b>.</p>
276	</div>
277	<div class="asm-step-figure">
278	<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">
279	<span>Figure 12.</span>
280	</div>
281	</div>
282	</div>
283
284	</div>
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