Wiki source code of 3 DoF Robotic Arm

Last modified by Eric Nantel on 2023/07/27 06:20
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Eric Nantel 131.1 1 [[image:LSS-3DOF-ISO.PNG||width="350"]]
Eric Nantel 62.1 2
Eric Nantel 126.1 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"]]
Eric Nantel 64.1 4
Eric Nantel 41.1 5 **Table of Contents**
Eric Nantel 34.1 6
Eric Nantel 30.1 7 {{toc/}}
Eric Nantel 28.1 8
Coleman Benson 74.1 9 = Description =
Eric Nantel 35.1 10
Eric Nantel 83.1 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.
Coleman Benson 65.2 12
Eric Nantel 117.1 13 {{lightbox image="LSS-3DOF-CONV.PNG" width="400"/}}
Coleman Benson 65.2 14
Eric Nantel 102.1 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.
Eric Nantel 83.1 16
17
Eric Nantel 117.1 18 (% style="width:400px" %)
19 |(% style="text-align:center; width:200px" %)**Gripper Option #1**|(% style="text-align:center" %)**Gripper Option #2**
Eric Nantel 120.1 20 |(% style="text-align:center" %){{lightbox image="LSS-3DOF-GRIP-02.PNG"/}}|(% style="text-align:center" %){{lightbox image="LSS-3DOF-GRIP-01.PNG"/}}
Eric Nantel 83.1 21
Eric Nantel 86.1 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. 
Eric Nantel 83.1 23
Eric Nantel 117.1 24 {{lightbox image="LSS-3DOF-ELEC.PNG" width="400"/}}
Eric Nantel 83.1 25
Coleman Benson 65.2 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
Eric Nantel 35.1 28 = Features =
29
Coleman Benson 67.1 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
Eric Nantel 35.1 37 = Specifications =
38
Eric Nantel 105.1 39 The following are provided with the vertical gripper option:
Coleman Benson 68.1 40
41 * Axes: 3 degrees of freedom + gripper
Eric Nantel 118.1 42 * Max Horizontal Reach: 15" / 38cm
43 * Max Vertical Reach: 8.25" / 21cm
Coleman Benson 68.1 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
Eric Nantel 118.1 46 * Arm weight: 1.39 pounds / 634g
47 * Gripper opening: 1.34" / 3.4cm
Coleman Benson 68.1 48
Eric Nantel 116.1 49 = Quickstart Guide / Assembly =
Coleman Benson 69.1 50
Eric Nantel 128.1 51 {{include reference="ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.WebHome" context="NEW"/}}
Coleman Benson 69.1 52
53 = Actuators =
54
Eric Nantel 117.1 55 (% style="width:400px" %)
Coleman Benson 82.1 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" %)(((
Coleman Benson 69.1 62 **Note that when operated at lower voltages, torque and speed are reduced.**
63 )))
64
Eric Nantel 112.1 65 = Working Envelope =
Eric Nantel 35.1 66
Eric Nantel 117.1 67 {{lightbox image="LSS-3DOF-DIMENSIONS-Envelope.PNG" width="400"/}}
Coleman Benson 71.1 68
Coleman Benson 72.1 69 = What's Included =
70
71 (% style="max-width:750px" %)
Eric Nantel 95.1 72 |(% colspan="6" %)**[[SES - Robots & Kits>>doc:servo-erector-set-robots-kits.WebHome]]**
73 |1x LSS-BR-KT|1x SES-MG-KT| | | |
Eric Nantel 104.1 74 |Base Rotate Kit|Mini Gripper Kit| | | |
Eric Nantel 132.1 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"]]| | | |
Eric Nantel 98.1 76 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.WebHome]]**
Eric Nantel 95.1 77 |3x LSS-ST1| | | | |
78 |LSS Standard| | | | |
Eric Nantel 125.1 79 |[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-HORNS.PNG||alt="LSS-ST1.png"]]| | | | |
Coleman Benson 72.1 80 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
Eric Nantel 96.1 81 |1x LSS-ADA|1x LSS-2IO|1x LSS-5VR|1x BX-12006000-XT60|(((
82 1x USBC-02
Eric Nantel 101.1 83 )))|4x ZT-07in
Eric Nantel 100.1 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"]]
Eric Nantel 96.1 86 |3x LSS-C-100-S|1x LSS-C-150-Y|1x SEA-01|1x SEA-02| |
Eric Nantel 95.1 87 |(((
88 100mm Cable
Eric Nantel 96.1 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"]]| |
Coleman Benson 72.1 93 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
Eric Nantel 96.1 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"]]| | | |
Coleman Benson 72.1 97 |(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
Eric Nantel 100.1 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"]]
Eric Nantel 122.1 101 |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"]]| |
Eric Nantel 127.1 104 |(% colspan="6" style="width:125px" %)**[[LSS - 3 DoF Parts>>doc:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome]]**
Eric Nantel 95.1 105 |(% 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
Eric Nantel 130.1 131 |[[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"]]
Eric Nantel 95.1 132 |(((
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| |
Eric Nantel 130.1 150 |[[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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