Changes for page 3 DoF Robotic Arm

Last modified by Eric Nantel on 2024/07/03 09:35
From version < 109.1 >
edited by Eric Nantel
on 2020/05/25 12:48
To version < 135.2
edited by Eric Nantel
on 2024/07/03 09:35
<
Change comment: Update document after refactoring.

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1 -LSS - 3 DoF Robotic Arm
1 +3 DoF Robotic Arm
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1 -servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.WebHome
1 +ses-v2.ses-v2-arms.WebHome
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1 -{{lightbox image="LSS-3DOF-ISO.PNG" width="350"/}}
1 +[[image:LSS-3DOF-ISO.PNG||width="350"]]
2 2  
3 -[[image:lynxmotion-wiki-attachments.WebHome@ComingSoon.jpg||alt="LSS - Articulated Robotic Arm.jpg"]]
3 +[[[[image:lynxmotion-wiki-attachments.WebHome@BuyOnline.jpg||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/products/lynxmotion-lss-3-dof-robotic-arm-kit||rel="noopener noreferrer" target="_blank"]]
4 4  
5 5  **Table of Contents**
6 6  
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10 10  
11 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 12  
13 -{{lightbox image="LSS-3DOF-CONV.PNG" width="600"/}}
13 +{{lightbox image="LSS-3DOF-CONV.PNG" width="400"/}}
14 14  
15 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. 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.
16 16  
17 17  
18 -(% style="width:600px" %)
19 -|(% style="text-align:center; width:300px" %)**Gripper Option #1**|(% style="text-align:center" %)**Gripper Option #2**
20 -|(% 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"/}}
18 +(% style="width:400px" %)
19 +|(% style="text-align:center; width:200px" %)**Gripper Option #1**|(% style="text-align:center" %)**Gripper Option #2**
20 +|(% style="text-align:center" %){{lightbox image="LSS-3DOF-GRIP-02.PNG"/}}|(% style="text-align:center" %){{lightbox image="LSS-3DOF-GRIP-01.PNG"/}}
21 21  
22 22  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. 
23 23  
24 -{{lightbox image="LSS-3DOF-ELEC.PNG" width="600"/}}
24 +{{lightbox image="LSS-3DOF-ELEC.PNG" width="400"/}}
25 25  
26 26  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.
27 27  
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39 39  The following are provided with the vertical gripper option:
40 40  
41 41  * Axes: 3 degrees of freedom + gripper
42 -* Max Horizontal Reach: ~_~__" / ~_~_~_~_ cm
43 -* Max Vertical Reach: ~_~__" / ~_~_~_~_ cm
44 -* Payload: ~_~__g (max reach)
42 +* Max Horizontal Reach: 15" / 38cm
43 +* Max Vertical Reach: 8.25" / 21cm
45 45  * Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
46 46  * Power Supply Out: 12V, 6A DC with XT60 connector
47 -* Arm weight: ~_~_~_~_g / ~_~_~_~_ pounds
48 -* Gripper opening: ~_~__ cm / ~_~_~_~_ inches
46 +* Arm weight: 1.39 pounds / 634g
47 +* Gripper opening: 1.34" / 3.4cm
49 49  
50 -= Quickstart Guide =
49 += Quickstart Guide / Assembly =
51 51  
52 -{{include reference="servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.WebHome" context="NEW"/}}
51 +{{include reference="ses-v2.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.WebHome" context="NEW"/}}
53 53  
54 54  = Actuators =
55 55  
56 -(% style="width:750px" %)
55 +(% style="width:400px" %)
57 57  |**Location**|**Type**|**Static Torque**|(% style="width:188px" %)**Max Speed**
58 58  |Base|ST1|14Kg-cm|(% style="width:188px" %)360° /s
59 59  |Shoulder|ST1|14Kg-cm|(% style="width:188px" %)360° /s
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63 63  **Note that when operated at lower voltages, torque and speed are reduced.**
64 64  )))
65 65  
66 -= Dimensions =
65 += Working Envelope =
67 67  
68 -{//Coming Soon//}
69 -
70 -== Working Envelope ==
71 -
72 72  {{lightbox image="LSS-3DOF-DIMENSIONS-Envelope.PNG" width="400"/}}
73 73  
74 74  = What's Included =
75 75  
76 76  (% style="max-width:750px" %)
77 -|(% colspan="6" %)**[[SES - Robots & Kits>>doc:servo-erector-set-robots-kits.WebHome]]**
72 +|(% colspan="6" %)**[[SES - Robots & Kits>>doc:ses-v1.ses-v1-system.WebHome]]**
78 78  |1x LSS-BR-KT|1x SES-MG-KT| | | |
79 79  |Base Rotate Kit|Mini Gripper Kit| | | |
80 -|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10[email protected]||alt="LSS-BR-KT"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.ses-m[email protected]||alt="SES-MG-KT"]]| | | |
75 +|[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-assembly.WebHome@LSS-BR-KT-Ghost.PNG||alt="LSS-BR-KT"]]|[[image:ses-v2-arms.ses-v2-mini-gripper-rc[email protected]||alt="SES-MG-KT"]]| | | |
81 81  |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.WebHome]]**
82 82  |3x LSS-ST1| | | | |
83 83  |LSS Standard| | | | |
84 -|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-Horns.PNG||alt="LSS-ST1.png"]]| | | | |
79 +|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-HORNS.PNG||alt="LSS-ST1.png"]]| | | | |
85 85  |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
86 86  |1x LSS-ADA|1x LSS-2IO|1x LSS-5VR|1x BX-12006000-XT60|(((
87 87  1x USBC-02
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103 103  |27x PHS-02|2x PHS-16|4x PHS-17|2x PHS-18|2x PHS-19|12x PHS-05
104 104  |2-56 x 1/4"|M3 x 10mm|M3 x 20mm|M3 x 30mm|M3 x 40mm|2-56 x 1/2"
105 105  |[[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@PHS-17.PNG||alt="PHS-17"]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-18.PNG||alt="PHS-18"]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-19.PNG||alt="PHS-19"]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-05.png||alt="PHS-19"]]
106 -|2x AHS-EC|45x BB-03|26x SW-04|8x SLN-03| |
107 -|Electronic Clip|Bearing 8x3mm|3 x 5.6mm Washer|M3 Locknut| |
108 -|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@AHS-EC.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@BB-03.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-washers.WebHome@SW-04.png||alt="SW-04"]]|[[image:servo-erector-set-system.ses-mechanics.ses-nuts.WebHome@SLN-03.PNG||alt="SLN-03"]]| |
109 -|(% colspan="6" style="width:125px" %)**[[LSS - 3 DoF Parts>>doc:.3dof-arm-quickstart.3dof-parts.WebHome]]**
101 +|2x AHS-EC|15x PHTS-01|26x SW-04|8x SLN-03| |
102 +|Electronic Clip|#2 x 1/4"|3 x 5.6mm Washer|M3 Locknut| |
103 +|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@AHS-EC.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHTS-01.PNG||alt="PHTS-01"]]|[[image:servo-erector-set-system.ses-mechanics.ses-washers.WebHome@SW-04.png||alt="SW-04"]]|[[image:servo-erector-set-system.ses-mechanics.ses-nuts.WebHome@SLN-03.PNG||alt="SLN-03"]]| |
104 +|(% colspan="6" style="width:125px" %)**[[LSS - 3 DoF Parts>>doc:ses-v2.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome]]**
110 110  |(% style="width:125px" %)(((
111 111  1x
112 112  
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133 133  LSS-3DOF-L-06
134 134  )))
135 135  |(% 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
136 -|[[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"]]
131 +|[[image: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: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: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: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: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:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-link-06.PNG||alt="LSS-3DOF-L-06"]]
137 137  |(((
138 138  1x
139 139  
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152 152  LSS-3DOF-CT-L
153 153  )))| |
154 154  |Base Plate|Back Support|Small Support|Large Support| |
155 -|[[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"]]| |
150 +|[[image:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-base.PNG||alt="LSS-3DOF-BP"]]|[[image:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-bs.PNG||alt="LSS-3DOF-BS"]]|[[image: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:ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome@lss-3-dof-ct-l.PNG||alt="LSS-3DOF-CT-L"]]| |
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