Changes for page 3 DoF Robotic Arm

Last modified by Eric Nantel on 2024/07/03 09:35
From version < 10.1 >
edited by Eric Nantel
on 2019/01/09 07:28
To version < 81.1 >
edited by Eric Nantel
on 2020/05/21 13:08
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1 -SES V2 BETA 4-Bar Arm Example
1 +LSS - 3 DoF Robotic Arm
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1 -SES V2 - Overview.SES V2 - Assemblies.WebHome
1 +servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.WebHome
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1 -== SES V2 4-Bar Arm - Assembly Guide ==
1 +{{lightbox image="LSS-3DOF-ISO.PNG" width="350"/}}
2 2  
3 -1. [[SES V2 BETA 4-Bar Arm - Links Preparation>>doc:.SES V2 BETA 4BarsArm - Links.WebHome]]
4 -1. [[SES V2 BETA 4-Bar Arm - Links Assembly>>doc:.SES V2 BETA 4BarsArm - Servos.WebHome]]
5 -1. [[SES V2 BETA 4-Bar Arm - Final Assembly>>doc:Servo Erector Set (SES).SES V2 - Assemblies.SES V2 BETA 4BarsArm Example.SES V2 BETA 4BarsArm - Arm.WebHome]]
3 +[[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]
6 6  
7 -[[image:SESV2-4-Bar-Arm-BETA-02.jpg||width="700"]]
8 -[[image:SESV2-4-Bar-Arm-BETA-01.jpg||width="700"]]
5 +**Table of Contents**
6 +
7 +{{toc/}}
8 +
9 += Description =
10 +
11 +Lynxmotion’s three degree of freedom (3DoF) articulated robotic arm was designed around Lynxmotion's configurable smart servo motors and is intended to be inexpensive yet highly versatile. 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.
12 +
13 +{Slow GIF showing arm moving with gripper remaining parallel}
14 +
15 +The included Mini Parallel Gripper uses a micro RC 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 +{Pictures of gripper closeup mounted on arm in each configuration}
18 +
19 +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 and LSS-5VR voltage regulator mean the normal RC servo in the gripper can be used with the LSS communication protocol. 
20 +
21 +{Closeup photo of 5VR and 2IO on arm}
22 +
23 +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.
24 +
25 +Combined with the Lynxmotion conveyor system, a tabletop assembly system can be created within a few hours. Although well suited for use on a desk for development and experimentation, the arm can be easily fitted to a mobile robot and powered using a 3S LiPo battery (sold separately) with XT60 connector.
26 +
27 += Features =
28 +
29 +* Three fully configurable modular smart servo motors
30 +* Composite G10 frame
31 +* Parallel gripper opens 40mm
32 +* Create sequences using handheld teach mode, coordinates, virtual arm
33 +* Built-in safety (current, temperature, voltage)
34 +* Easy to understand and human readable LSS communication protocol
35 +
36 += Specifications =
37 +
38 +The following are provided with the gripper extended horizontally:
39 +
40 +* Axes: 3 degrees of freedom + gripper
41 +* Max Horizontal Reach: ~_~__" / ~_~_~_~_ cm
42 +* Max Vertical Reach: ~_~__" / ~_~_~_~_ cm
43 +* Payload: ~_~__g (max reach)
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: ~_~_~_~_g / ~_~_~_~_ pounds
47 +* Gripper opening: ~_~__ cm / ~_~_~_~_ inches
48 +
49 += Quickstart Guide =
50 +
51 +{{include reference="servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.WebHome" context="NEW"/}}
52 +
53 += Actuators =
54 +
55 +(% style="width:350px" %)
56 +|**Location**|**Type**|**Static Torque**|**Max Speed**
57 +|Base|ST1|14Kg-cm|360° /s
58 +|Shoulder|ST1|14Kg-cm|360° /s
59 +|Elbow|ST1|14Kg-cm|360° /s
60 +|Gripper|LRC|1.5 Kg-cm|0.10s / 60° (6V)
61 +|(% colspan="4" %)(((
62 +**Note that when operated at lower voltages, torque and speed are reduced.**
63 +)))
64 +
65 += Dimensions =
66 +
67 +{Coming Soon}
68 +
69 += What's Included =
70 +
71 +(% style="max-width:750px" %)
72 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
73 +|3x LSS-ST1|1x LSS-LRC| | | |
74 +|LSS Standard|9g RC Servo| | | |
75 +|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-Horns.PNG||alt="LSS-ST1.png"]]| | | | |
76 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
77 +|1x LSS-ADA|2x LSS-C-300-S|12x CC-01|2x AHS-EC|1x 12V-XT60|1x USBC-02
78 +|LSS Adapter|300mm Cable|Cable Clip|Electronic Clip|12V w/ XT60|USB to Mini B
79 +|[[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]]
80 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
81 +|2x ASB-28| | | | |
82 +|LSS Single Wide| | | | |
83 +|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-28.png]]| | | | |
84 +|(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]**
85 +| | | | | |
86 +| | | | | |
87 +| | | | | |
88 +|(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
89 +| | | | | |
90 +| | | | | |
91 +| | | | | |
92 +|(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
93 +|58x PHS-02|19x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03
94 +|2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm
95 +|[[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]]
96 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**
97 +|5x AHS-19|4x AHS-20| | | |
98 +|M3 x 40mm|M3 x 18mm| | | |
99 +|[[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"]]| | | |
100 +|(% colspan="6" style="width:125px" %)**[[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-parts.WebHome]]**
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" %)
103 +|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Top.PNG]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Middle-01.PNG]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Middle-02.PNG]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Bottom.PNG]]| |
SESV2-4-Bar-Arm-BETA-01.jpg
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