Wiki source code of 5 DoF Robotic Arm

Last modified by Eric Nantel on 2023/02/21 10:51
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Eric Nantel 33.1 1 [[image:SESV2-LSS-5DOF.PNG||width="350"]]
Eric Nantel 3.1 2
Eric Nantel 28.1 3 [[[[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/products/lynxmotion-lss-5-dof-robotic-arm-kit||rel="noopener noreferrer" target="_blank"]]
Eric Nantel 3.1 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
Eric Nantel 10.1 13 {{lightbox image="SESV2-5DOF-ARM-Side.PNG" width="350"/}}
Eric Nantel 3.1 14
Eric Nantel 10.1 15
Coleman Benson 17.1 16 This versatile setup facilitates customization and expansion for applications through the use of additional brackets, electronics, sensors and more, and incorporating additional degrees of freedom or changing the gripper is straightforward.
Eric Nantel 3.1 17
Coleman Benson 18.1 18 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. 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.
Eric Nantel 3.1 19
20 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.
21
22 = Features =
23
Eric Nantel 15.1 24 * 6x fully configurable modular smart servo motors
Eric Nantel 3.1 25 * Modular aluminum brackets, carbon fiber tubing and more
26 * V-style gripper opens from 0 to 180 degrees
27 * Compatible with Lynxmotion Servo Erector Set electronics
28 * Built-in safety features (over current, temperature, voltage)
29 * Easy to understand and human readable LSS communication protocol
30
31 = Specifications =
32
Eric Nantel 15.1 33 * Axes: 5 degrees of freedom + 1 (gripper)
Eric Nantel 13.1 34 * Max Horizontal Reach: 18.021" / 457.74mm
35 * Max Vertical Reach: 22.010" / 559.06mm
Coleman Benson 17.1 36 * Payload: 100g (at max reach)*
Eric Nantel 3.1 37 * Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
38 * Power Supply Out: 12V, 6A DC with XT60 connector
39 * Weight: 1.43 pounds / 0.650 Kg
40
41 ~* Note that if holding 100g at full reach, the shoulder and elbow servos will heat up rapidly. Payload increases closer to the base.
42
43 = Quickstart Guide / Assembly =
44
Eric Nantel 29.1 45 {{include reference="ses-v2-arms.lss-5dof-arm.5dof-arm-quickstart.WebHome" context="NEW"/}}
Eric Nantel 3.1 46
47 = Actuators =
48
49 (% style="width:350px" %)
50 |**Location**|**Type**|**Static Torque**|**Max Speed**
51 |Base|ST1|14Kg-cm|360° /s
52 |Shoulder|HT1|29Kg-cm|360° /s
Eric Nantel 7.1 53 |Elbow|HT1|29Kg-cm|360° /s
54 |Wrist Tilt|ST1|14Kg-cm|360° /s
55 |Wrist Rotate|ST1|14Kg-cm|360° /s
Eric Nantel 3.1 56 |Gripper|ST1|14Kg-cm|360° /s
57 |(% colspan="4" %)(((
58 **Note that when operated at lower voltages, torque and speed are reduced.**
59 )))
60
61 = Dimensions =
62
Eric Nantel 12.1 63 {{lightbox image="SESV2-5DOF-ARM-Enveloppe.PNG" width="400"/}}
Eric Nantel 3.1 64
65 = What's Included =
66
67 (% style="max-width:750px" %)
68 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
Eric Nantel 7.1 69 |4x LSS-ST1|2x LSS-HT1| | | |
Eric Nantel 3.1 70 |LSS Standard|LSS High-Torque| | | |
Eric Nantel 25.1 71 |[[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 3.1 72 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
73 |1x LSS-ADA|2x LSS-C-300-S|12x CC-01|2x AHS-EC|1x 12V-XT60|1x USBC-02
74 |LSS Adapter|300mm Cable|Cable Clip|Electronic Clip|12V w/ XT60|USB to Mini B
75 |[[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]]
76 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
77 |3x ASB-28|3x ASB-39|1x ASB-30|2x ASB-35|2x ASB-36|1x ASB-42
78 |LSS Single Wide|Short C V2|LSS Double Wide|Gripper Main|Gripper Secondary|Gripper Foam
79 |[[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]]
80 |(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]**
Eric Nantel 26.1 81 |2x SES-32T| | | | |
82 |32T Gear for Horn| | | | |
83 |[[image:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome@SES-32T.png]]| | | | |
Eric Nantel 3.1 84 |(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
85 |4x HUB-22|2x CF-16x14-75| | | |
86 |16mm SES Clamp|75mm Carbon Tube| | | |
87 |[[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]]| | | |
88 |(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
89 |58x PHS-02|19x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03
Coleman Benson 17.1 90 |2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beads|Dowel Pin|Bearing 8x3mm
Eric Nantel 3.1 91 |[[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]]
92 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**
93 |5x AHS-19|4x AHS-20| | | |
94 |M3 x 40mm|M3 x 18mm| | | |
95 |[[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 21.1 96 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome]]**
97 |WBSF-2|WBTL-1| | | |
Eric Nantel 22.1 98 |Silicon Grease|Thread Lock| | | |
Eric Nantel 21.1 99 |[[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 31.1 100 |(% colspan="6" style="width:125px" %)**[[doc:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome]]**
Eric Nantel 3.1 101 |(% 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" %)
102 |(% 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 32.1 103 |[[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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