Wiki source code of 3 DoF Robotic Arm

Last modified by Eric Nantel on 2023/07/27 06:20

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1 [[image:LSS-3DOF-ISO.PNG||width="350"]]
2
3 [[[[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/products/lynxmotion-lss-3-dof-robotic-arm-kit||rel="noopener noreferrer" target="_blank"]]
4
5 **Table of Contents**
6
7 {{toc/}}
8
9 = Description =
10
11 The Lynxmotion (LSS) - 3 DoF Robotic Arm (Kit) was designed to be an inexpensive yet highly versatile robotic arm using the fully configurable Lynxmotion Smart Servo (LSS) actuators. The four-bar mechanical design ensures the end effector remains parallel to the surface, and offloads much of the weight of the joints onto the base. Combined with the Lynxmotion conveyor system, a tabletop assembly system can be created within a few hours.
12
13 {{lightbox image="LSS-3DOF-CONV.PNG" width="400"/}}
14
15 Although well suited for use on a desk for development and experimentation, the arm is meant to be easily fitted to a mobile robot and powered using a 3S LiPo battery (sold separately) with XT60 connector. The included Mini Parallel Gripper uses a micro servo, acrylic and foam to be as lightweight as possible. The gripper opens to 40mm and the bracket allows it to be mounted horizontally or vertically.
16
17
18 (% style="width:400px" %)
19 |(% style="text-align:center; width:200px" %)**Gripper Option #1**|(% style="text-align:center" %)**Gripper Option #2**
20 |(% style="text-align:center" %){{lightbox image="LSS-3DOF-GRIP-02.PNG"/}}|(% style="text-align:center" %){{lightbox image="LSS-3DOF-GRIP-01.PNG"/}}
21
22 The arm includes three main electronic components: The LSS Adapter makes connecting to a computer, Arduino, Raspberry Pi, XBee or other serial device easy, while the LSS-2IO programmable microcontroller (which control the gripper RC servo) and LSS-5VR voltage regulator mean the normal RC servo in the gripper can be used with the LSS communication protocol. 
23
24 {{lightbox image="LSS-3DOF-ELEC.PNG" width="400"/}}
25
26 CAD design files, as well as examples of how to communicate with the smart servos via Arduino and Python are available so that students and hobbyists can more easily integrate the arm into their projects. The graphical user interface LSS FlowArm, created using FlowBotics Studio, makes recording and playing back sequences effortless.
27
28 = Features =
29
30 * Three fully configurable modular smart servo motors
31 * Composite G10 frame
32 * Parallel gripper opens 40mm
33 * Create sequences using handheld teach mode, coordinates, virtual arm
34 * Built-in safety (current, temperature, voltage)
35 * Easy to understand and human readable LSS communication protocol
36
37 = Specifications =
38
39 The following are provided with the vertical gripper option:
40
41 * Axes: 3 degrees of freedom + gripper
42 * Max Horizontal Reach: 15" / 38cm
43 * Max Vertical Reach: 8.25" / 21cm
44 * Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
45 * Power Supply Out: 12V, 6A DC with XT60 connector
46 * Arm weight: 1.39 pounds / 634g
47 * Gripper opening: 1.34" / 3.4cm
48
49 = Quickstart Guide / Assembly =
50
51 {{include reference="ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.WebHome" context="NEW"/}}
52
53 = Actuators =
54
55 (% style="width:400px" %)
56 |**Location**|**Type**|**Static Torque**|(% style="width:188px" %)**Max Speed**
57 |Base|ST1|14Kg-cm|(% style="width:188px" %)360° /s
58 |Shoulder|ST1|14Kg-cm|(% style="width:188px" %)360° /s
59 |Elbow|ST1|14Kg-cm|(% style="width:188px" %)360° /s
60 |Gripper|LRC|1.5 Kg-cm|(% style="width:188px" %)0.10s / 60° (6V)
61 |(% colspan="4" style="width:420px" %)(((
62 **Note that when operated at lower voltages, torque and speed are reduced.**
63 )))
64
65 = Working Envelope =
66
67 {{lightbox image="LSS-3DOF-DIMENSIONS-Envelope.PNG" width="400"/}}
68
69 = What's Included =
70
71 (% style="max-width:750px" %)
72 |(% colspan="6" %)**[[SES - Robots & Kits>>doc:servo-erector-set-robots-kits.WebHome]]**
73 |1x LSS-BR-KT|1x SES-MG-KT| | | |
74 |Base Rotate Kit|Mini Gripper Kit| | | |
75 |[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-assembly.WebHome@LSS-BR-KT-Ghost.PNG||alt="LSS-BR-KT"]]|[[image:[email protected]||alt="SES-MG-KT"]]| | | |
76 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.WebHome]]**
77 |3x LSS-ST1| | | | |
78 |LSS Standard| | | | |
79 |[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-HORNS.PNG||alt="LSS-ST1.png"]]| | | | |
80 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
81 |1x LSS-ADA|1x LSS-2IO|1x LSS-5VR|1x BX-12006000-XT60|(((
82 1x USBC-02
83 )))|4x ZT-07in
84 |LSS Adapter|2IO Module|5V Module|12V w/ XT60|USB to Mini B|7" Zip Tie
85 |[[image:servo-erector-set-system.ses-electronics.ses-modules.lss-adapter-board.WebHome@LSS-ADA.png]]|[[image:servo-erector-set-system.ses-electronics.ses-modules.lss-2io-board.WebHome@LSS-2IO.PNG||alt="LSS-2IO"]]|[[image:servo-erector-set-system.ses-electronics.ses-modules.lss-5vr.WebHome@LSS-5VR.PNG||alt="LSS-5VR"]]|[[image:servo-erector-set-system.ses-electronics.ses-wall-adapters.WebHome@BX-12006000-XT60.PNG]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@USBC-02.PNG]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@ZT-07in.PNG||alt="ZT-07in"]]
86 |3x LSS-C-100-S|1x LSS-C-150-Y|1x SEA-01|1x SEA-02| |
87 |(((
88 100mm Cable
89 )))|150mm Y Cable|(((
90 6in Extension
91 )))|12in Extension| |
92 |[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@LSS-C-100.png||alt="LSS-C-100-S"]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@LSS-C-100Y.png||alt="LSS-C-150-Y"]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@SEA-01.PNG||alt="SEA-01"]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@SEA-02.PNG||alt="SEA-02"]]| |
93 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
94 |2x ASB-28|1x ASB-43| | | |
95 |LSS Single Wide|Mini C Bracket| | | |
96 |[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-28.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-43.PNG||alt="ASB-43"]]| | | |
97 |(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
98 |27x PHS-02|2x PHS-16|4x PHS-17|2x PHS-18|2x PHS-19|12x PHS-05
99 |2-56 x 1/4"|M3 x 10mm|M3 x 20mm|M3 x 30mm|M3 x 40mm|2-56 x 1/2"
100 |[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-02.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-16.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-17.PNG||alt="PHS-17"]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-18.PNG||alt="PHS-18"]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-19.PNG||alt="PHS-19"]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-05.png||alt="PHS-19"]]
101 |2x AHS-EC|15x PHTS-01|26x SW-04|8x SLN-03| |
102 |Electronic Clip|#2 x 1/4"|3 x 5.6mm Washer|M3 Locknut| |
103 |[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@AHS-EC.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHTS-01.PNG||alt="PHTS-01"]]|[[image:servo-erector-set-system.ses-mechanics.ses-washers.WebHome@SW-04.png||alt="SW-04"]]|[[image:servo-erector-set-system.ses-mechanics.ses-nuts.WebHome@SLN-03.PNG||alt="SLN-03"]]| |
104 |(% colspan="6" style="width:125px" %)**[[LSS - 3 DoF Parts>>doc:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome]]**
105 |(% style="width:125px" %)(((
106 1x
107
108 LSS-3DOF-L-01
109 )))|(% style="width:125px" %)(((
110 5x
111
112 LSS-3DOF-L-02
113 )))|(% style="width:125px" %)(((
114 1x
115
116 LSS-3DOF-L-03
117 )))|(% style="width:125px" %)(((
118 2x
119
120 LSS-3DOF-L-04
121 )))|(% style="width:125px" %)(((
122 1x
123
124 LSS-3DOF-L-05
125 )))|(% style="width:125px" %)(((
126 1x
127
128 LSS-3DOF-L-06
129 )))
130 |(% style="width:125px" %)Link #1|(% style="width:125px" %)Link #2|(% style="width:125px" %)Link #3|(% style="width:125px" %)Link #4|(% style="width:125px" %)Link #5|(% style="width:125px" %)Link #6
131 |[[image:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-link-01.PNG||alt="LSS-3DOF-L-01"]]|[[image:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-link-02.PNG||alt="LSS-3DOF-L-02"]]|[[image:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-link-03.PNG||alt="LSS-3DOF-L-03"]]|[[image:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-link-04.PNG||alt="LSS-3DOF-L-04"]]|[[image:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-link-05.PNG||alt="LSS-3DOF-L-05"]]|[[image:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-link-06.PNG||alt="LSS-3DOF-L-06"]]
132 |(((
133 1x
134
135 LSS-3DOF-BP
136 )))|(((
137 1x
138
139 LSS-3DOF-BS
140 )))|(((
141 2x
142
143 LSS-3DOF-CT-S
144 )))|(((
145 2x
146
147 LSS-3DOF-CT-L
148 )))| |
149 |Base Plate|Back Support|Small Support|Large Support| |
150 |[[image:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-base.PNG||alt="LSS-3DOF-BP"]]|[[image:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-bs.PNG||alt="LSS-3DOF-BS"]]|[[image:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-ct-s.PNG||alt="LSS-3DOF-CT-S"]]|[[image:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-ct-l.PNG||alt="LSS-3DOF-CT-L"]]| |
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