Changes for page 3 DoF Robotic Arm

Last modified by Eric Nantel on 2024/07/03 09:35
From version < 130.1 >
edited by Eric Nantel
on 2023/02/21 08:10
To version < 13.1 >
edited by Eric Nantel
on 2019/01/09 07:53
< >
Change comment: Renamed back-links.

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1 -3 DoF Robotic Arm
1 +SES V2 BETA 4-Bar Arm Example
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1 -ses-v2-arms.WebHome
1 +Servo Erector Set (SES).SES V2 - Assemblies.WebHome
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1 -{{lightbox image="LSS-3DOF-ISO.PNG" width="350"/}}
1 +== SES V2 4-Bar Arm - Assembly Guide ==
2 2  
3 -[[[[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/products/lynxmotion-lss-3-dof-robotic-arm-kit||rel="noopener noreferrer" target="_blank"]]
3 +1. [[SES V2 BETA 4-Bar Arm - Links Preparation>>doc:Servo Erector Set (SES).SES V2 - Assemblies.SES V2 BETA 4BarsArm Example.SES V2 BETA 4BarsArm - Links.WebHome]]
4 +1. [[SES V2 BETA 4-Bar Arm - Links Assembly>>doc:Servo Erector Set (SES).SES V2 - Assemblies.SES V2 BETA 4BarsArm Example.SES V2 BETA 4BarsArm - Servos.WebHome]]
5 +1. [[SES V2 BETA 4-Bar Arm - Final Assembly>>doc:Servo Erector Set (SES) Robots.SES V2 Robots.SES V2 BETA 4BarsArm Example.SES V2 BETA 4BarsArm - Arm.WebHome]]
4 4  
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="400"/}}
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. 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 -
17 -
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 -
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 -
24 -{{lightbox image="LSS-3DOF-ELEC.PNG" width="400"/}}
25 -
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 -
28 -= Features =
29 -
30 -* Three fully configurable modular smart servo motors
31 -* Composite G10 frame
32 -* Parallel gripper opens 40mm
33 -* Create sequences using handheld teach mode, coordinates, virtual arm
34 -* Built-in safety (current, temperature, voltage)
35 -* Easy to understand and human readable LSS communication protocol
36 -
37 -= Specifications =
38 -
39 -The following are provided with the vertical gripper option:
40 -
41 -* Axes: 3 degrees of freedom + gripper
42 -* Max Horizontal Reach: 15" / 38cm
43 -* Max Vertical Reach: 8.25" / 21cm
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: 1.39 pounds / 634g
47 -* Gripper opening: 1.34" / 3.4cm
48 -
49 -= Quickstart Guide / Assembly =
50 -
51 -{{include reference="ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.WebHome" context="NEW"/}}
52 -
53 -= Actuators =
54 -
55 -(% style="width:400px" %)
56 -|**Location**|**Type**|**Static Torque**|(% style="width:188px" %)**Max Speed**
57 -|Base|ST1|14Kg-cm|(% style="width:188px" %)360° /s
58 -|Shoulder|ST1|14Kg-cm|(% style="width:188px" %)360° /s
59 -|Elbow|ST1|14Kg-cm|(% style="width:188px" %)360° /s
60 -|Gripper|LRC|1.5 Kg-cm|(% style="width:188px" %)0.10s / 60° (6V)
61 -|(% colspan="4" style="width:420px" %)(((
62 -**Note that when operated at lower voltages, torque and speed are reduced.**
63 -)))
64 -
65 -= Working Envelope =
66 -
67 -{{lightbox image="LSS-3DOF-DIMENSIONS-Envelope.PNG" width="400"/}}
68 -
69 -= What's Included =
70 -
71 -(% style="max-width:750px" %)
72 -|(% colspan="6" %)**[[SES - Robots & Kits>>doc:servo-erector-set-robots-kits.WebHome]]**
73 -|1x LSS-BR-KT|1x SES-MG-KT| | | |
74 -|Base Rotate Kit|Mini Gripper Kit| | | |
75 -|[[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"]]| | | |
76 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.WebHome]]**
77 -|3x LSS-ST1| | | | |
78 -|LSS Standard| | | | |
79 -|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-HORNS.PNG||alt="LSS-ST1.png"]]| | | | |
80 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
81 -|1x LSS-ADA|1x LSS-2IO|1x LSS-5VR|1x BX-12006000-XT60|(((
82 -1x USBC-02
83 -)))|4x ZT-07in
84 -|LSS Adapter|2IO Module|5V Module|12V w/ XT60|USB to Mini B|7" Zip Tie
85 -|[[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]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@ZT-07in.PNG||alt="ZT-07in"]]
86 -|3x LSS-C-100-S|1x LSS-C-150-Y|1x SEA-01|1x SEA-02| |
87 -|(((
88 -100mm Cable
89 -)))|150mm Y Cable|(((
90 -6in Extension
91 -)))|12in Extension| |
92 -|[[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"]]| |
93 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
94 -|2x ASB-28|1x ASB-43| | | |
95 -|LSS Single Wide|Mini C Bracket| | | |
96 -|[[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"]]| | | |
97 -|(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
98 -|27x PHS-02|2x PHS-16|4x PHS-17|2x PHS-18|2x PHS-19|12x PHS-05
99 -|2-56 x 1/4"|M3 x 10mm|M3 x 20mm|M3 x 30mm|M3 x 40mm|2-56 x 1/2"
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@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"]]
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-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome]]**
105 -|(% style="width:125px" %)(((
106 -1x
107 -
108 -LSS-3DOF-L-01
109 -)))|(% style="width:125px" %)(((
110 -5x
111 -
112 -LSS-3DOF-L-02
113 -)))|(% style="width:125px" %)(((
114 -1x
115 -
116 -LSS-3DOF-L-03
117 -)))|(% style="width:125px" %)(((
118 -2x
119 -
120 -LSS-3DOF-L-04
121 -)))|(% style="width:125px" %)(((
122 -1x
123 -
124 -LSS-3DOF-L-05
125 -)))|(% style="width:125px" %)(((
126 -1x
127 -
128 -LSS-3DOF-L-06
129 -)))
130 -|(% 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
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"]]
132 -|(((
133 -1x
134 -
135 -LSS-3DOF-BP
136 -)))|(((
137 -1x
138 -
139 -LSS-3DOF-BS
140 -)))|(((
141 -2x
142 -
143 -LSS-3DOF-CT-S
144 -)))|(((
145 -2x
146 -
147 -LSS-3DOF-CT-L
148 -)))| |
149 -|Base Plate|Back Support|Small Support|Large Support| |
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"]]| |
7 +[[image:SESV2-4-Bar-Arm-BETA-02.jpg||width="700"]]
8 +[[image:SESV2-4-Bar-Arm-BETA-01.jpg||width="700"]]
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