Wiki source code of LSS - 3 DoF Robotic Arm

Version 73.1 by Coleman Benson on 2020/05/21 09:14
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Eric Nantel 62.1 1 {{lightbox image="LSS-3DOF.PNG" width="350"/}}
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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
Eric Nantel 35.1 9 = Descritpion =
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Coleman Benson 65.2 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.
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13 {Slow GIF showing arm moving with gripper remaining parallel}
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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.
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17 {Pictures of gripper closeup mounted on arm in each configuration}
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Coleman Benson 69.1 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. 
Coleman Benson 65.2 20
21 {Closeup photo of 5VR and 2IO on arm}
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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.
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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.
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Eric Nantel 35.1 27 = Features =
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Coleman Benson 67.1 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
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Eric Nantel 35.1 36 = Specifications =
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Coleman Benson 68.1 38 The following are provided with the gripper extended horizontally:
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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
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Coleman Benson 69.1 49 = Quickstart Guide =
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51 Lynxmotion 3DoF Articulated Robotic Arm Kit:
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53 * 3 DoF Arm Quickstart (coming soon)
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55 = Actuators =
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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
Coleman Benson 70.1 62 |Gripper|LRC|1.5 Kg-cm|0.10s / 60° (6V)
Coleman Benson 69.1 63 |(% colspan="4" %)(((
64 **Note that when operated at lower voltages, torque and speed are reduced.**
65 )))
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Eric Nantel 35.1 67 = Dimensions =
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Coleman Benson 73.1 69 {Coming Soon}
Coleman Benson 71.1 70
Coleman Benson 72.1 71 = What's Included =
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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 |[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-Horns.PNG||alt="LSS-ST1.png"]]| | | | |
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]]
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 | | | | | |
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]]| |
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Eric Nantel 40.1 107 = Assembly Guide & Links =
Eric Nantel 9.1 108
Eric Nantel 58.1 109 * **[[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]]**
Eric Nantel 59.1 110 * **[[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]]**
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