Changes for page 3 DoF Robotic Arm

Last modified by Eric Nantel on 2024/07/03 09:35
From version < 134.1 >
edited by Eric Nantel
on 2024/07/03 09:35
To version < 78.1 >
edited by Eric Nantel
on 2020/05/21 12:43
< >
Change comment: There is no comment for this version

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1 -3 DoF Robotic Arm
1 +LSS - 3 DoF Robotic Arm
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1 -ses-v2-arms.WebHome
1 +servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.WebHome
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1 -false
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1 -[[image:LSS-3DOF-ISO.PNG||width="350"]]
1 +{{lightbox image="LSS-3DOF-ISO.PNG" width="350"/}}
2 2  
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"]]
3 +[[image:lynxmotion-wiki-attachments.WebHome@ComingSoon.jpg||alt="LSS - Articulated Robotic Arm.jpg"]]
4 4  
5 5  **Table of Contents**
6 6  
... ... @@ -8,23 +8,22 @@
8 8  
9 9  = Description =
10 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.
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 12  
13 -{{lightbox image="LSS-3DOF-CONV.PNG" width="400"/}}
13 +{Slow GIF showing arm moving with gripper remaining parallel}
14 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.
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 16  
17 +{Pictures of gripper closeup mounted on arm in each configuration}
17 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"/}}
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. 
21 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. 
21 +{Closeup photo of 5VR and 2IO on arm}
23 23  
24 -{{lightbox image="LSS-3DOF-ELEC.PNG" width="400"/}}
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  
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 +
28 28  = Features =
29 29  
30 30  * Three fully configurable modular smart servo motors
... ... @@ -36,115 +36,74 @@
36 36  
37 37  = Specifications =
38 38  
39 -The following are provided with the vertical gripper option:
38 +The following are provided with the gripper extended horizontally:
40 40  
41 41  * Axes: 3 degrees of freedom + gripper
42 -* Max Horizontal Reach: 15" / 38cm
43 -* Max Vertical Reach: 8.25" / 21cm
41 +* Max Horizontal Reach: ~_~__" / ~_~_~_~_ cm
42 +* Max Vertical Reach: ~_~__" / ~_~_~_~_ cm
43 +* Payload: ~_~__g (max reach)
44 44  * Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
45 45  * Power Supply Out: 12V, 6A DC with XT60 connector
46 -* Arm weight: 1.39 pounds / 634g
47 -* Gripper opening: 1.34" / 3.4cm
46 +* Arm weight: ~_~_~_~_g / ~_~_~_~_ pounds
47 +* Gripper opening: ~_~__ cm / ~_~_~_~_ inches
48 48  
49 -= Quickstart Guide / Assembly =
49 += Quickstart Guide =
50 50  
51 -{{include reference="ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.WebHome" context="NEW"/}}
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 52  
53 53  = Actuators =
54 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" %)(((
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 62  **Note that when operated at lower voltages, torque and speed are reduced.**
63 63  )))
64 64  
65 -= Working Envelope =
65 += Dimensions =
66 66  
67 -{{lightbox image="LSS-3DOF-DIMENSIONS-Envelope.PNG" width="400"/}}
67 +{Coming Soon}
68 68  
69 69  = What's Included =
70 70  
71 71  (% style="max-width:750px" %)
72 -|(% colspan="6" %)**[[SES - Robots & Kits>>doc:ses-v1.ses-v1-system.WebHome]]**
73 -|1x LSS-BR-KT|1x SES-MG-KT| | | |
74 -|Base Rotate Kit|Mini Gripper Kit| | | |
75 -|[[image:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-assembly.WebHome@LSS-BR-KT-Ghost.PNG||alt="LSS-BR-KT"]]|[[image:[email protected]||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"]]| | | | |
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"]]| | | | |
80 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"]]| |
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]]
93 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"]]| | | |
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 +| | | | | |
97 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.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.3dof-parts.WebHome]]**
105 -|(% style="width:125px" %)(((
106 -1x
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]]| |
107 107  
108 -LSS-3DOF-L-01
109 -)))|(% style="width:125px" %)(((
110 -5x
105 += Assembly Guide & Links =
111 111  
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"]]| |
107 +* **[[4-Bar Arm (BETA) - Assembly Guide>>doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.4-bar-arm-beta-links-preparation.WebHome]]**
108 +* **[[4-Bar Arm (BETA) - Parts>>doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.4-bar-arm-beta-parts.WebHome]]**
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