Wiki source code of LSS - 3 DoF Robotic Arm

Version 116.1 by Eric Nantel on 2020/05/26 07:41
Hide last authors
Eric Nantel 77.1 1 {{lightbox image="LSS-3DOF-ISO.PNG" width="350"/}}
Eric Nantel 62.1 2
Eric Nantel 65.1 3 [[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]
Eric Nantel 64.1 4
Eric Nantel 41.1 5 **Table of Contents**
Eric Nantel 34.1 6
Eric Nantel 30.1 7 {{toc/}}
Eric Nantel 28.1 8
Coleman Benson 74.1 9 = Description =
Eric Nantel 35.1 10
Eric Nantel 83.1 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.
Coleman Benson 65.2 12
Eric Nantel 91.1 13 {{lightbox image="LSS-3DOF-CONV.PNG" width="600"/}}
Coleman Benson 65.2 14
Eric Nantel 102.1 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.
Eric Nantel 83.1 16
17
Eric Nantel 91.1 18 (% style="width:600px" %)
Eric Nantel 92.1 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"/}}
Eric Nantel 83.1 21
Eric Nantel 86.1 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. 
Eric Nantel 83.1 23
Eric Nantel 93.1 24 {{lightbox image="LSS-3DOF-ELEC.PNG" width="600"/}}
Eric Nantel 83.1 25
Coleman Benson 65.2 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
Eric Nantel 35.1 28 = Features =
29
Coleman Benson 67.1 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
Eric Nantel 35.1 37 = Specifications =
38
Eric Nantel 105.1 39 The following are provided with the vertical gripper option:
Coleman Benson 68.1 40
41 * Axes: 3 degrees of freedom + gripper
42 * Max Horizontal Reach: ~_~__" / ~_~_~_~_ cm
43 * Max Vertical Reach: ~_~__" / ~_~_~_~_ cm
44 * Payload: ~_~__g (max reach)
45 * Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
46 * Power Supply Out: 12V, 6A DC with XT60 connector
47 * Arm weight: ~_~_~_~_g / ~_~_~_~_ pounds
48 * Gripper opening: ~_~__ cm / ~_~_~_~_ inches
49
Eric Nantel 116.1 50 = Quickstart Guide / Assembly =
Coleman Benson 69.1 51
Eric Nantel 78.1 52 {{include reference="servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.WebHome" context="NEW"/}}
Coleman Benson 69.1 53
54 = Actuators =
55
Eric Nantel 103.1 56 (% style="width:750px" %)
Coleman Benson 82.1 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" %)(((
Coleman Benson 69.1 63 **Note that when operated at lower voltages, torque and speed are reduced.**
64 )))
65
Eric Nantel 112.1 66 = Working Envelope =
Eric Nantel 35.1 67
Eric Nantel 112.1 68 {{lightbox image="LSS-3DOF-DIMENSIONS-Envelope.PNG" width="600"/}}
Coleman Benson 71.1 69
Coleman Benson 72.1 70 = What's Included =
71
72 (% style="max-width:750px" %)
Eric Nantel 95.1 73 |(% colspan="6" %)**[[SES - Robots & Kits>>doc:servo-erector-set-robots-kits.WebHome]]**
74 |1x LSS-BR-KT|1x SES-MG-KT| | | |
Eric Nantel 104.1 75 |Base Rotate Kit|Mini Gripper Kit| | | |
Eric Nantel 95.1 76 |[[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"]]| | | |
Eric Nantel 98.1 77 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.WebHome]]**
Eric Nantel 95.1 78 |3x LSS-ST1| | | | |
79 |LSS Standard| | | | |
Coleman Benson 72.1 80 |[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-Horns.PNG||alt="LSS-ST1.png"]]| | | | |
81 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
Eric Nantel 96.1 82 |1x LSS-ADA|1x LSS-2IO|1x LSS-5VR|1x BX-12006000-XT60|(((
83 1x USBC-02
Eric Nantel 101.1 84 )))|4x ZT-07in
Eric Nantel 100.1 85 |LSS Adapter|2IO Module|5V Module|12V w/ XT60|USB to Mini B|7" Zip Tie
86 |[[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"]]
Eric Nantel 96.1 87 |3x LSS-C-100-S|1x LSS-C-150-Y|1x SEA-01|1x SEA-02| |
Eric Nantel 95.1 88 |(((
89 100mm Cable
Eric Nantel 96.1 90 )))|150mm Y Cable|(((
91 6in Extension
92 )))|12in Extension| |
93 |[[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"]]| |
Coleman Benson 72.1 94 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
Eric Nantel 96.1 95 |2x ASB-28|1x ASB-43| | | |
96 |LSS Single Wide|Mini C Bracket| | | |
97 |[[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"]]| | | |
Coleman Benson 72.1 98 |(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
Eric Nantel 100.1 99 |27x PHS-02|2x PHS-16|4x PHS-17|2x PHS-18|2x PHS-19|12x PHS-05
100 |2-56 x 1/4"|M3 x 10mm|M3 x 20mm|M3 x 30mm|M3 x 40mm|2-56 x 1/2"
101 |[[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"]]
102 |2x AHS-EC|45x BB-03|26x SW-04|8x SLN-03| |
103 |Electronic Clip|Bearing 8x3mm|3 x 5.6mm Washer|M3 Locknut| |
104 |[[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"]]| |
Eric Nantel 95.1 105 |(% colspan="6" style="width:125px" %)**[[LSS - 3 DoF Parts>>doc:.3dof-arm-quickstart.3dof-parts.WebHome]]**
106 |(% style="width:125px" %)(((
107 1x
108
109 LSS-3DOF-L-01
110 )))|(% style="width:125px" %)(((
111 5x
112
113 LSS-3DOF-L-02
114 )))|(% style="width:125px" %)(((
115 1x
116
117 LSS-3DOF-L-03
118 )))|(% style="width:125px" %)(((
119 2x
120
121 LSS-3DOF-L-04
122 )))|(% style="width:125px" %)(((
123 1x
124
125 LSS-3DOF-L-05
126 )))|(% style="width:125px" %)(((
127 1x
128
129 LSS-3DOF-L-06
130 )))
131 |(% 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
132 |[[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"]]
133 |(((
134 1x
135
136 LSS-3DOF-BP
137 )))|(((
138 1x
139
140 LSS-3DOF-BS
141 )))|(((
142 2x
143
144 LSS-3DOF-CT-S
145 )))|(((
146 2x
147
148 LSS-3DOF-CT-L
149 )))| |
150 |Base Plate|Back Support|Small Support|Large Support| |
151 |[[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"]]| |
Copyright RobotShop 2018