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 < 96.1 >
edited by Eric Nantel
on 2020/05/22 10:17
< >
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1 -SES V2 BETA 4-Bar Arm Example
1 +LSS - 3 DoF Robotic Arm
Parent
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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 +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.
12 +
13 +{{lightbox image="LSS-3DOF-CONV.PNG" width="600"/}}
14 +
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.
16 +
17 +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.
18 +
19 +(% style="width:600px" %)
20 +|(% style="text-align:center; width:300px" %)**Gripper Option #1**|(% style="text-align:center" %)**Gripper Option #2**
21 +|(% style="text-align:center; width:300px" %){{lightbox image="LSS-3DOF-GRIP-01.PNG" width="300"/}}|(% style="text-align:center" %){{lightbox image="LSS-3DOF-GRIP-02.PNG" width="300"/}}
22 +
23 +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. 
24 +
25 +{{lightbox image="LSS-3DOF-ELEC.PNG" width="600"/}}
26 +
27 +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.
28 +
29 += Features =
30 +
31 +* Three fully configurable modular smart servo motors
32 +* Composite G10 frame
33 +* Parallel gripper opens 40mm
34 +* Create sequences using handheld teach mode, coordinates, virtual arm
35 +* Built-in safety (current, temperature, voltage)
36 +* Easy to understand and human readable LSS communication protocol
37 +
38 += Specifications =
39 +
40 +{//Coming soon//}
41 +
42 +The following are provided with the gripper extended horizontally:
43 +
44 +* Axes: 3 degrees of freedom + gripper
45 +* Max Horizontal Reach: ~_~__" / ~_~_~_~_ cm
46 +* Max Vertical Reach: ~_~__" / ~_~_~_~_ cm
47 +* Payload: ~_~__g (max reach)
48 +* Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
49 +* Power Supply Out: 12V, 6A DC with XT60 connector
50 +* Arm weight: ~_~_~_~_g / ~_~_~_~_ pounds
51 +* Gripper opening: ~_~__ cm / ~_~_~_~_ inches
52 +
53 += Quickstart Guide =
54 +
55 +{{include reference="servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.WebHome" context="NEW"/}}
56 +
57 += Actuators =
58 +
59 +(% style="width:600px" %)
60 +|**Location**|**Type**|**Static Torque**|(% style="width:188px" %)**Max Speed**
61 +|Base|ST1|14Kg-cm|(% style="width:188px" %)360° /s
62 +|Shoulder|ST1|14Kg-cm|(% style="width:188px" %)360° /s
63 +|Elbow|ST1|14Kg-cm|(% style="width:188px" %)360° /s
64 +|Gripper|LRC|1.5 Kg-cm|(% style="width:188px" %)0.10s / 60° (6V)
65 +|(% colspan="4" style="width:420px" %)(((
66 +**Note that when operated at lower voltages, torque and speed are reduced.**
67 +)))
68 +
69 += Dimensions =
70 +
71 +{//Coming Soon//}
72 +
73 += What's Included =
74 +
75 +{//Coming soon//}
76 +
77 +(% style="max-width:750px" %)
78 +|(% colspan="6" %)**[[SES - Robots & Kits>>doc:servo-erector-set-robots-kits.WebHome]]**
79 +|1x LSS-BR-KT|1x SES-MG-KT| | | |
80 +|Base Rotate|Mini Gripper| | | |
81 +|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-assembly.WebHome@LSS-BR-KT-Ghost.PNG||alt="LSS-BR-KT"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.ses-mini-gripper.WebHome@SES-MG-KT.PNG||alt="SES-MG-KT"]]| | | |
82 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
83 +|3x LSS-ST1| | | | |
84 +|LSS Standard| | | | |
85 +|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-Horns.PNG||alt="LSS-ST1.png"]]| | | | |
86 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
87 +|1x LSS-ADA|1x LSS-2IO|1x LSS-5VR|1x BX-12006000-XT60|(((
88 +1x USBC-02
89 +)))|
90 +|LSS Adapter|2IO Module|5V Module|12V w/ XT60|USB to Mini B|
91 +|[[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]]|
92 +|3x LSS-C-100-S|1x LSS-C-150-Y|1x SEA-01|1x SEA-02| |
93 +|(((
94 +100mm Cable
95 +)))|150mm Y Cable|(((
96 +6in Extension
97 +)))|12in Extension| |
98 +|[[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"]]| |
99 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
100 +|2x ASB-28|1x ASB-43| | | |
101 +|LSS Single Wide|Mini C Bracket| | | |
102 +|[[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"]]| | | |
103 +|(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
104 +|58x PHS-02|19x PHS-16|6x FHS-01|5x BB-05|5x DP-01|BB-03
105 +|2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm
106 +|[[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@DP-01.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@BB-03.png]]
107 +|2x AHS-EC| | | | |
108 +|Electronic Clip| | | | |
109 +|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@AHS-EC.PNG]]| | | | |
110 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**
111 +|5x AHS-19|4x AHS-20| | | |
112 +|M3 x 40mm|M3 x 18mm| | | |
113 +|[[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"]]| | | |
114 +|(% colspan="6" style="width:125px" %)**[[LSS - 3 DoF Parts>>doc:.3dof-arm-quickstart.3dof-parts.WebHome]]**
115 +|(% style="width:125px" %)(((
116 +1x
117 +
118 +LSS-3DOF-L-01
119 +)))|(% style="width:125px" %)(((
120 +5x
121 +
122 +LSS-3DOF-L-02
123 +)))|(% style="width:125px" %)(((
124 +1x
125 +
126 +LSS-3DOF-L-03
127 +)))|(% style="width:125px" %)(((
128 +2x
129 +
130 +LSS-3DOF-L-04
131 +)))|(% style="width:125px" %)(((
132 +1x
133 +
134 +LSS-3DOF-L-05
135 +)))|(% style="width:125px" %)(((
136 +1x
137 +
138 +LSS-3DOF-L-06
139 +)))
140 +|(% 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
141 +|[[image:servo-erector-set-robots-kits.ses-v2-robots.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:servo-erector-set-robots-kits.ses-v2-robots.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:servo-erector-set-robots-kits.ses-v2-robots.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:servo-erector-set-robots-kits.ses-v2-robots.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:servo-erector-set-robots-kits.ses-v2-robots.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:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-link-06.PNG||alt="LSS-3DOF-L-06"]]
142 +|(((
143 +1x
144 +
145 +LSS-3DOF-BP
146 +)))|(((
147 +1x
148 +
149 +LSS-3DOF-BS
150 +)))|(((
151 +2x
152 +
153 +LSS-3DOF-CT-S
154 +)))|(((
155 +2x
156 +
157 +LSS-3DOF-CT-L
158 +)))| |
159 +|Base Plate|Back Support|Small Support|Large Support| |
160 +|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-base.PNG||alt="LSS-3DOF-BP"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-bs.PNG||alt="LSS-3DOF-BS"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.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:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-ct-l.PNG||alt="LSS-3DOF-CT-L"]]| |
SESV2-4-Bar-Arm-BETA-01.jpg
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