Changes for page 3 DoF Robotic Arm

Last modified by Eric Nantel on 2024/07/03 09:35
From version < 75.1 >
edited by Eric Nantel
on 2020/05/21 12:35
To version < 109.1 >
edited by Eric Nantel
on 2020/05/25 12:48
< >
Change comment: There is no comment for this version

Summary

Details

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1 -{{lightbox image="LSS-3DOF.PNG" width="350"/}}
1 +{{lightbox image="LSS-3DOF-ISO.PNG" width="350"/}}
2 2  
3 3  [[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]
4 4  
... ... @@ -8,22 +8,23 @@
8 8  
9 9  = Description =
10 10  
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.
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 -{Slow GIF showing arm moving with gripper remaining parallel}
13 +{{lightbox image="LSS-3DOF-CONV.PNG" width="600"/}}
14 14  
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.
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 -{Pictures of gripper closeup mounted on arm in each configuration}
18 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. 
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"/}}
20 20  
21 -{Closeup photo of 5VR and 2IO on arm}
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. 
22 22  
24 +{{lightbox image="LSS-3DOF-ELEC.PNG" width="600"/}}
25 +
23 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 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 27  = Features =
28 28  
29 29  * Three fully configurable modular smart servo motors
... ... @@ -35,7 +35,7 @@
35 35  
36 36  = Specifications =
37 37  
38 -The following are provided with the gripper extended horizontally:
39 +The following are provided with the vertical gripper option:
39 39  
40 40  * Axes: 3 degrees of freedom + gripper
41 41  * Max Horizontal Reach: ~_~__" / ~_~_~_~_ cm
... ... @@ -48,63 +48,107 @@
48 48  
49 49  = Quickstart Guide =
50 50  
51 -Lynxmotion 3DoF Articulated Robotic Arm Kit:
52 +{{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 -* 3 DoF Arm Quickstart (coming soon)
54 -
55 55  = Actuators =
56 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|0.10s / 60° (6V)
63 -|(% colspan="4" %)(((
56 +(% style="width:750px" %)
57 +|**Location**|**Type**|**Static Torque**|(% style="width:188px" %)**Max Speed**
58 +|Base|ST1|14Kg-cm|(% style="width:188px" %)360° /s
59 +|Shoulder|ST1|14Kg-cm|(% style="width:188px" %)360° /s
60 +|Elbow|ST1|14Kg-cm|(% style="width:188px" %)360° /s
61 +|Gripper|LRC|1.5 Kg-cm|(% style="width:188px" %)0.10s / 60° (6V)
62 +|(% colspan="4" style="width:420px" %)(((
64 64  **Note that when operated at lower voltages, torque and speed are reduced.**
65 65  )))
66 66  
67 67  = Dimensions =
68 68  
69 -{Coming Soon}
68 +{//Coming Soon//}
70 70  
70 +== Working Envelope ==
71 +
72 +{{lightbox image="LSS-3DOF-DIMENSIONS-Envelope.PNG" width="400"/}}
73 +
71 71  = What's Included =
72 72  
73 73  (% style="max-width:750px" %)
74 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
75 -|3x LSS-ST1|1x LSS-LRC| | | |
76 -|LSS Standard|9g RC Servo| | | |
77 +|(% colspan="6" %)**[[SES - Robots & Kits>>doc:servo-erector-set-robots-kits.WebHome]]**
78 +|1x LSS-BR-KT|1x SES-MG-KT| | | |
79 +|Base Rotate Kit|Mini Gripper Kit| | | |
80 +|[[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"]]| | | |
81 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.WebHome]]**
82 +|3x LSS-ST1| | | | |
83 +|LSS Standard| | | | |
77 77  |[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-Horns.PNG||alt="LSS-ST1.png"]]| | | | |
78 78  |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
79 -|1x LSS-ADA|2x LSS-C-300-S|12x CC-01|2x AHS-EC|1x 12V-XT60|1x USBC-02
80 -|LSS Adapter|300mm Cable|Cable Clip|Electronic Clip|12V w/ XT60|USB to Mini B
81 -|[[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]]
86 +|1x LSS-ADA|1x LSS-2IO|1x LSS-5VR|1x BX-12006000-XT60|(((
87 +1x USBC-02
88 +)))|4x ZT-07in
89 +|LSS Adapter|2IO Module|5V Module|12V w/ XT60|USB to Mini B|7" Zip Tie
90 +|[[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"]]
91 +|3x LSS-C-100-S|1x LSS-C-150-Y|1x SEA-01|1x SEA-02| |
92 +|(((
93 +100mm Cable
94 +)))|150mm Y Cable|(((
95 +6in Extension
96 +)))|12in Extension| |
97 +|[[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"]]| |
82 82  |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
83 -|2x ASB-28| | | | |
84 -|LSS Single Wide| | | | |
85 -|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-28.png]]| | | | |
86 -|(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]**
87 -| | | | | |
88 -| | | | | |
89 -| | | | | |
90 -|(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
91 -| | | | | |
92 -| | | | | |
93 -| | | | | |
99 +|2x ASB-28|1x ASB-43| | | |
100 +|LSS Single Wide|Mini C Bracket| | | |
101 +|[[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"]]| | | |
94 94  |(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
95 -|58x PHS-02|19x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03
96 -|2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm
97 -|[[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]]
98 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**
99 -|5x AHS-19|4x AHS-20| | | |
100 -|M3 x 40mm|M3 x 18mm| | | |
101 -|[[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"]]| | | |
102 -|(% 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]]**
103 -|(% 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" %)
104 -|(% 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" %)
105 -|[[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]]| |
103 +|27x PHS-02|2x PHS-16|4x PHS-17|2x PHS-18|2x PHS-19|12x PHS-05
104 +|2-56 x 1/4"|M3 x 10mm|M3 x 20mm|M3 x 30mm|M3 x 40mm|2-56 x 1/2"
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]]**
110 +|(% style="width:125px" %)(((
111 +1x
106 106  
107 -= Assembly Guide & Links =
113 +LSS-3DOF-L-01
114 +)))|(% style="width:125px" %)(((
115 +5x
108 108  
109 -* **[[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]]**
110 -* **[[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]]**
117 +LSS-3DOF-L-02
118 +)))|(% style="width:125px" %)(((
119 +1x
120 +
121 +LSS-3DOF-L-03
122 +)))|(% style="width:125px" %)(((
123 +2x
124 +
125 +LSS-3DOF-L-04
126 +)))|(% style="width:125px" %)(((
127 +1x
128 +
129 +LSS-3DOF-L-05
130 +)))|(% style="width:125px" %)(((
131 +1x
132 +
133 +LSS-3DOF-L-06
134 +)))
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"]]
137 +|(((
138 +1x
139 +
140 +LSS-3DOF-BP
141 +)))|(((
142 +1x
143 +
144 +LSS-3DOF-BS
145 +)))|(((
146 +2x
147 +
148 +LSS-3DOF-CT-S
149 +)))|(((
150 +2x
151 +
152 +LSS-3DOF-CT-L
153 +)))| |
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"]]| |
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