Wiki source code of 4 DoF Robotic Arm
Last modified by Eric Nantel on 2023/02/21 10:50
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| 1 | [[image:SESV2-LSS-ARTICULATED-ARM.png||width="350"]] |
| 2 | |
| 3 | [[[[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-smart-servos-articulated-arm.html||rel="noopener noreferrer" target="_blank"]] |
| 4 | |
| 5 | **Table of Contents** |
| 6 | |
| 7 | {{toc/}} |
| 8 | |
| 9 | = Description = |
| 10 | |
| 11 | Lynxmotion’s 6th generation articulated robotic arm is intended as a hobby / scale version of an industrial robotic arm and is designed around the fully configurable Lynxmotion Smart Servo motors and Lynxmotion Servo Erector Set (SES v2) modular construction system. |
| 12 | |
| 13 | (% style="width:600px" %) |
| 14 | |(% style="text-align:center; width:300px" %)**With Shells**|(% style="text-align:center; width:300px" %)**Without Shells** |
| 15 | |(% colspan="2" style="width:350px" %){{lightbox image="SESV2-LSS-ARTICULATED-ARM-FaceToFace.png"/}} |
| 16 | |
| 17 | This versatile setup facilitates customization and expansion for applications through the use of additional brackets, electronics, sensors and more, and adding additional degrees of freedom or changing the gripper is straightforward. |
| 18 | |
| 19 | Although well suited for use on a desk for development and experimentation, the arm can be easily fitted on a mobile robot and powered using a 3S (11.1V) LiPo battery (sold separately) with XT60 connector. The included LSS Adapter electronics board makes connecting to an Arduino shield compatible board, Raspberry Pi, XBee or other serial device easy. |
| 20 | |
| 21 | {{lightbox image="SESV2-LSS-ARTICULATED-ARM-A4WD.png" title="LSS Articulated Arm on A4WD Platform" width="400"/}} |
| 22 | |
| 23 | CAD design files, as well as examples using Arduino and Python are available so that students and hobbyists can integrate the arm into their projects. The graphical user interface LSS FlowArm, created using FlowBotics Studio, makes recording and playing back sequences effortless. |
| 24 | |
| 25 | {{lightbox image="SESV2-LSS-ARTICULATED-ARM-FlowArm.jpg" title="LSS FlowArm Software" width="400"/}} |
| 26 | |
| 27 | Wiki page for [[doc:ses-software.lss-flowarm.WebHome]] |
| 28 | |
| 29 | The Lynxmotion smart servo motors were designed and optimized for articulated robotic joints and ease of use. The custom LSS communication protocol is human readable, uses full duplex (dedicated Tx and Rx lines) and selectable baud rates. Optimize the motion by changing the properties of each servo; anything from setting a maximum speed or angular range to the angular acceleration, holding stiffness and more. Each servo can be queried for a wide variety of real-time values or configured settings, including sensor feedback from the absolute encoder (position, speed and more), current, voltage and temperature. |
| 30 | |
| 31 | = Features = |
| 32 | |
| 33 | * 5x fully configurable modular smart servo motors |
| 34 | * Modular aluminum brackets, carbon fiber tubing and more |
| 35 | * V-style gripper opens from 0 to 180 degrees |
| 36 | * Compatible with Lynxmotion Servo Erector Set electronics |
| 37 | * Create sequences using handheld teach mode, coordinates, virtual arm |
| 38 | * Built-in safety features (over current, temperature, voltage) |
| 39 | * Easy to understand and human readable LSS communication protocol |
| 40 | |
| 41 | = Specifications = |
| 42 | |
| 43 | * Axes: 4 degrees of freedom + 1 (gripper) |
| 44 | * Max Horizontal Reach: 15.910" / 404.12mm |
| 45 | * Max Vertical Reach: 19.899" / 505.44mm |
| 46 | * Payload: 100g (max reach)* |
| 47 | * Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug) |
| 48 | * Power Supply Out: 12V, 6A DC with XT60 connector |
| 49 | * Weight: 1.43 pounds / 0.650 Kg |
| 50 | |
| 51 | ~* Note that if holding 100g at full reach, the shoulder and elbow servos will heat up rapidly. Payload increases closer to the base. |
| 52 | |
| 53 | = Quickstart Guide / Assembly = |
| 54 | |
| 55 | {{include reference="ses-v2-arms.lss-4dof-arm.4dof-arm-quickstart.WebHome" context="NEW"/}} |
| 56 | |
| 57 | = Actuators = |
| 58 | |
| 59 | (% style="width:350px" %) |
| 60 | |**Location**|**Type**|**Static Torque**|**Max Speed** |
| 61 | |Base|ST1|14Kg-cm|360° /s |
| 62 | |Shoulder|HT1|29Kg-cm|360° /s |
| 63 | |Elbow|HT1|29Kg-cm|360° /s |
| 64 | |Wrist|ST1|14Kg-cm|360° /s |
| 65 | |Gripper|ST1|14Kg-cm|360° /s |
| 66 | |(% colspan="4" %)((( |
| 67 | **Note that when operated at lower voltages, torque and speed are reduced.** |
| 68 | ))) |
| 69 | |
| 70 | = Dimensions = |
| 71 | |
| 72 | {{lightbox image="SESV2-LSS-ARTICULATED-ARM-Enveloppe-Rev2.png" width="400"/}} |
| 73 | |
| 74 | = What's Included = |
| 75 | |
| 76 | (% style="max-width:750px" %) |
| 77 | |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]** |
| 78 | |3x LSS-ST1|2x LSS-HT1| | | | |
| 79 | |LSS Standard|LSS High-Torque| | | | |
| 80 | |[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-HORNS.PNG||alt="LSS-ST1.png"]]|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-HT1-HORNS.PNG||alt="LSS-HT1.png"]]| | | | |
| 81 | |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]** |
| 82 | |1x LSS-ADA|2x LSS-C-300-S|12x CC-01|2x AHS-EC|1x 12V-XT60|1x USBC-02 |
| 83 | |LSS Adapter|300mm Cable|Cable Clip|Electronic Clip|12V w/ XT60|USB to Mini B |
| 84 | |[[image:servo-erector-set-system.ses-electronics.ses-modules.lss-adapter-board.WebHome@LSS-ADA.png]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@LSS-C-100.png]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@CC-01.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@AHS-EC.PNG]]|[[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]] |
| 85 | |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]** |
| 86 | |3x ASB-28|3x ASB-39|1x ASB-30|2x ASB-35|2x ASB-36|1x ASB-42 |
| 87 | |LSS Single Wide|Short C V2|LSS Double Wide|Gripper Main|Gripper Secondary|Gripper Foam |
| 88 | |[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-28.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-39.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-30.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-35.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-36.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-42.png]] |
| 89 | |(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]** |
| 90 | |2x SES-32T| | | | | |
| 91 | |32T Gear for Horn| | | | | |
| 92 | |[[image:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome@SES-32T.png]]| | | | | |
| 93 | |(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]** |
| 94 | |4x HUB-22|2x CF-16x14-75| | | | |
| 95 | |16mm SES Clamp|75mm Carbon Tube| | | | |
| 96 | |[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@HUB-22.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@CF-16x14-75.png]]| | | | |
| 97 | |(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]** |
| 98 | |58x PHS-02|19x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03 |
| 99 | |2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm |
| 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@FHS-01.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@BB-05.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@DP-01.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@BB-03.png]] |
| 101 | |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]** |
| 102 | |5x AHS-19|4x AHS-20| | | | |
| 103 | |M3 x 40mm|M3 x 18mm| | | | |
| 104 | |[[image:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome@AHS-19.png||alt="PHS-02.png"]]|[[image:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome@AHS-20.png||alt="PHS-16.png"]]| | | | |
| 105 | |(% colspan="6" %)**[[Miscellaneous>>path:/info/wiki/lynxmotion/view/servo-erector-set-system/ses-mechanics/ses-miscellaneous/]]** |
| 106 | |WBSF-2|WBTL-1| | | | |
| 107 | |Silicon Grease|Thread Lock| | | | |
| 108 | |[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@WBSF-2.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@WBTL-1.PNG||alt="PHS-02.png"]]| | | | |
| 109 | |(% colspan="6" style="width:125px" %)**[[doc:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome]]** |
| 110 | |(% style="width:125px" %)1x - LSS-BR-T|(% style="width:125px" %)1x - LSS-BR-M1|(% style="width:125px" %)1x - LSS-BR-M2|(% style="width:125px" %)1x - LSS-BR-B|(% style="width:125px" %) |(% style="width:125px" %) |
| 111 | |(% style="width:125px" %)Top Plate|(% style="width:125px" %)Middle Plate 1|(% style="width:125px" %)Middle Plate 2 |(% style="width:125px" %)Bottom Plate|(% style="width:125px" %) |(% style="width:125px" %) |
| 112 | |[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Top.PNG]]|[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Middle-01.PNG]]|[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Middle-02.PNG]]|[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Bottom.PNG]]| | |