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Title

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1		-4-Bar Arm (BETA)
	1	+LSS - 3 DoF Robotic Arm

Parent

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1		-Servo Erector Set (SES) Robots & Kits.SES V2 Robots.SES V2 - Arms.WebHome
	1	+servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.WebHome

Author

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1		-xwiki:XWiki.ENantel
	1	+xwiki:XWiki.CBenson

Hidden

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1		-false
	1	+true

Content

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	1	+{{lightbox image="LSS-3DOF.PNG" width="350"/}}
	2	+
	3	+[[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]
	4	+
	5	+**Table of Contents**
	6	+
1	1	{{toc/}}
2	2
3		-= 4-Bar Arm (BETA)  - Assembly Guide =
	9	+= Descritpion =
4	4
5		-1. [[doc:Servo Erector Set (SES) Robots & Kits.SES V2 Robots.SES V2 - Arms.4-Bar Arm (BETA).4-Bar Arm (BETA) - Links Preparation.WebHome]]
6		-1. [[doc:Servo Erector Set (SES) Robots & Kits.SES V2 Robots.SES V2 - Arms.4-Bar Arm (BETA).4-Bar Arm (BETA) - Links Assembly.WebHome]]
7		-1. [[doc:Servo Erector Set (SES) Robots & Kits.SES V2 Robots.SES V2 - Arms.4-Bar Arm (BETA).4-Bar Arm (BETA) - Final Assembly.WebHome]]
	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.
8	8
9		-= 4-Bar Arm (BETA)  - Parts =
	13	+{Slow GIF showing arm moving with gripper remaining parallel}
10	10
11		-* [[doc:Servo Erector Set (SES) Robots & Kits.SES V2 Robots.SES V2 - Arms.4-Bar Arm (BETA).4-Bar Arm (BETA) - Parts.WebHome]]
	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	+Lynxmotion 3DoF Articulated Robotic Arm Kit:
	52	+
	53	+* 3 DoF Arm Quickstart (coming soon)
	54	+
	55	+= Actuators =
	56	+
	57	+(% style="width:350px" %)
	58	+|**Location**|**Type**|**Static Torque**|**Max Speed**
	59	+|Base|ST1|14Kg-cm|360° /s
	60	+|Shoulder|ST1|14Kg-cm|360° /s
	61	+|Elbow|ST1|14Kg-cm|360° /s
	62	+|Gripper|LRC|1.5 Kg-cm|360° 0.10s per 60
	63	+|(% colspan="4" %)(((
	64	+**Note that when operated at lower voltages, torque and speed are reduced.**
	65	+)))
	66	+
	67	+= Dimensions =
	68	+
	69	+= Assembly Guide & Links =
	70	+
	71	+* **[[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]]**
	72	+* **[[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]]**

LSS-3DOF.PNG

Author

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	1	+xwiki:XWiki.ENantel

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	1	+310.4 KB

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