Wiki source code of 4 DoF Robotic Arm

Last modified by Eric Nantel on 2023/02/21 10:50
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Eric Nantel 183.1 1 [[image:SESV2-LSS-ARTICULATED-ARM.png||width="350"]]
Eric Nantel 13.1 2
Eric Nantel 87.1 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"]]
Eric Nantel 13.1 4
Eric Nantel 3.1 5 **Table of Contents**
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7 {{toc/}}
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9 = Description =
10
Eric Nantel 36.2 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.
Eric Nantel 35.1 12
Eric Nantel 86.1 13 (% style="width:600px" %)
Eric Nantel 70.1 14 |(% style="text-align:center; width:300px" %)**With Shells**|(% style="text-align:center; width:300px" %)**Without Shells**
Eric Nantel 59.1 15 |(% colspan="2" style="width:350px" %){{lightbox image="SESV2-LSS-ARTICULATED-ARM-FaceToFace.png"/}}
Eric Nantel 36.2 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.
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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.
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Eric Nantel 73.1 21 {{lightbox image="SESV2-LSS-ARTICULATED-ARM-A4WD.png" title="LSS Articulated Arm on A4WD Platform" width="400"/}}
Eric Nantel 36.2 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.
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Eric Nantel 73.1 25 {{lightbox image="SESV2-LSS-ARTICULATED-ARM-FlowArm.jpg" title="LSS FlowArm Software" width="400"/}}
Eric Nantel 36.2 26
Eric Nantel 176.1 27 Wiki page for [[doc:ses-software.lss-flowarm.WebHome]]
Eric Nantel 77.1 28
Eric Nantel 36.2 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.
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Eric Nantel 3.1 31 = Features =
32
Eric Nantel 36.2 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
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Eric Nantel 3.1 41 = Specifications =
42
Eric Nantel 36.2 43 * Axes: 4 degrees of freedom + 1 (gripper)
Eric Nantel 169.1 44 * Max Horizontal Reach: 15.910" / 404.12mm
45 * Max Vertical Reach: 19.899" / 505.44mm
Coleman Benson 79.2 46 * Payload: 100g (max reach)*
Eric Nantel 36.2 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
Eric Nantel 73.1 49 * Weight: 1.43 pounds / 0.650 Kg
Eric Nantel 34.1 50
Coleman Benson 79.3 51 ~* Note that if holding 100g at full reach, the shoulder and elbow servos will heat up rapidly. Payload increases closer to the base.
Coleman Benson 79.2 52
Eric Nantel 158.1 53 = Quickstart Guide / Assembly =
Eric Nantel 91.1 54
Eric Nantel 179.1 55 {{include reference="ses-v2-arms.lss-4dof-arm.4dof-arm-quickstart.WebHome" context="NEW"/}}
Eric Nantel 91.1 56
Eric Nantel 74.1 57 = Actuators =
Eric Nantel 36.2 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
Eric Nantel 162.1 63 |Elbow|HT1|29Kg-cm|360° /s
Eric Nantel 36.2 64 |Wrist|ST1|14Kg-cm|360° /s
Coleman Benson 79.3 65 |Gripper|ST1|14Kg-cm|360° /s
Eric Nantel 38.1 66 |(% colspan="4" %)(((
Coleman Benson 79.3 67 **Note that when operated at lower voltages, torque and speed are reduced.**
Eric Nantel 38.1 68 )))
Eric Nantel 36.2 69
Eric Nantel 74.1 70 = Dimensions =
Eric Nantel 3.1 71
Eric Nantel 167.1 72 {{lightbox image="SESV2-LSS-ARTICULATED-ARM-Enveloppe-Rev2.png" width="400"/}}
Eric Nantel 35.1 73
Eric Nantel 76.1 74 = What's Included =
Eric Nantel 28.1 75
Eric Nantel 11.2 76 (% style="max-width:750px" %)
Eric Nantel 21.3 77 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
Eric Nantel 162.1 78 |3x LSS-ST1|2x LSS-HT1| | | |
Eric Nantel 21.3 79 |LSS Standard|LSS High-Torque| | | |
Eric Nantel 177.1 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"]]| | | |
Eric Nantel 21.3 81 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
Eric Nantel 88.1 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]]
Eric Nantel 20.1 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]]
Eric Nantel 20.2 89 |(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]**
Eric Nantel 178.1 90 |2x SES-32T| | | | |
91 |32T Gear for Horn| | | | |
92 |[[image:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome@SES-32T.png]]| | | | |
Eric Nantel 20.2 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| | | |
Eric Nantel 20.4 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]]| | | |
Eric Nantel 11.2 97 |(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
Eric Nantel 89.1 98 |58x PHS-02|19x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03
Eric Nantel 18.1 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]]
Eric Nantel 22.3 101 |(% 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"]]| | | |
Eric Nantel 173.1 105 |(% 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"]]| | | |
Eric Nantel 181.1 109 |(% colspan="6" style="width:125px" %)**[[doc:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome]]**
Eric Nantel 11.2 110 |(% 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" %)
Eric Nantel 17.2 111 |(% 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" %)
Eric Nantel 182.1 112 |[[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]]| |

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