Wiki source code of LSS - 3 DoF Robotic Arm

Version 95.1 by Eric Nantel on 2020/05/22 10:11
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1 {{lightbox image="LSS-3DOF-ISO.PNG" width="350"/}}
2
3 [[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]
4
5 **Table of Contents**
6
7 {{toc/}}
8
9 = Description =
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.
12
13 {{lightbox image="LSS-3DOF-CONV.PNG" width="600"/}}
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.
16
17 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.
18
19 (% style="width:600px" %)
20 |(% style="text-align:center; width:300px" %)**Gripper Option #1**|(% style="text-align:center" %)**Gripper Option #2**
21 |(% 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"/}}
22
23 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. 
24
25 {{lightbox image="LSS-3DOF-ELEC.PNG" width="600"/}}
26
27 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.
28
29 = Features =
30
31 * Three fully configurable modular smart servo motors
32 * Composite G10 frame
33 * Parallel gripper opens 40mm
34 * Create sequences using handheld teach mode, coordinates, virtual arm
35 * Built-in safety (current, temperature, voltage)
36 * Easy to understand and human readable LSS communication protocol
37
38 = Specifications =
39
40 {//Coming soon//}
41
42 The following are provided with the gripper extended horizontally:
43
44 * Axes: 3 degrees of freedom + gripper
45 * Max Horizontal Reach: ~_~__" / ~_~_~_~_ cm
46 * Max Vertical Reach: ~_~__" / ~_~_~_~_ cm
47 * Payload: ~_~__g (max reach)
48 * Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
49 * Power Supply Out: 12V, 6A DC with XT60 connector
50 * Arm weight: ~_~_~_~_g / ~_~_~_~_ pounds
51 * Gripper opening: ~_~__ cm / ~_~_~_~_ inches
52
53 = Quickstart Guide =
54
55 {{include reference="servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-3-dof-arm.3dof-arm-quickstart.WebHome" context="NEW"/}}
56
57 = Actuators =
58
59 (% style="width:600px" %)
60 |**Location**|**Type**|**Static Torque**|(% style="width:188px" %)**Max Speed**
61 |Base|ST1|14Kg-cm|(% style="width:188px" %)360° /s
62 |Shoulder|ST1|14Kg-cm|(% style="width:188px" %)360° /s
63 |Elbow|ST1|14Kg-cm|(% style="width:188px" %)360° /s
64 |Gripper|LRC|1.5 Kg-cm|(% style="width:188px" %)0.10s / 60° (6V)
65 |(% colspan="4" style="width:420px" %)(((
66 **Note that when operated at lower voltages, torque and speed are reduced.**
67 )))
68
69 = Dimensions =
70
71 {//Coming Soon//}
72
73 = What's Included =
74
75 {//Coming soon//}
76
77 (% style="max-width:750px" %)
78 |(% colspan="6" %)**[[SES - Robots & Kits>>doc:servo-erector-set-robots-kits.WebHome]]**
79 |1x LSS-BR-KT|1x SES-MG-KT| | | |
80 |Base Rotate|Mini Gripper| | | |
81 |[[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"]]| | | |
82 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
83 |3x LSS-ST1| | | | |
84 |LSS Standard| | | | |
85 |[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-Horns.PNG||alt="LSS-ST1.png"]]| | | | |
86 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
87 |1x LSS-ADA|1x LSS-2IO|1x LSS-5VR| |1x 12V-XT60|1x USBC-02
88 |LSS Adapter|2IO Module|5V Module| |12V w/ XT60|USB to Mini B
89 |[[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]]
90 |3x LSS-C-100-S|1x LSS-C-150-Y| | | |
91 |(((
92 100mm Cable
93 )))|150mm Y Cable| | | |
94 |[[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"]]| | | |
95 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
96 |2x ASB-28| | | | |
97 |LSS Single Wide| | | | |
98 |[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-28.png]]| | | | |
99 |(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]**
100 | | | | | |
101 | | | | | |
102 | | | | | |
103 |(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
104 | | | | | |
105 | | | | | |
106 | | | | | |
107 |(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
108 |58x PHS-02|19x PHS-16|6x FHS-01|5x BB-05|5x DP-01|BB-03
109 |2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm
110 |[[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]]
111 |2x AHS-EC| | | | |
112 |Electronic Clip| | | | |
113 |[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@AHS-EC.PNG]]| | | | |
114 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**
115 |5x AHS-19|4x AHS-20| | | |
116 |M3 x 40mm|M3 x 18mm| | | |
117 |[[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"]]| | | |
118 |(% colspan="6" style="width:125px" %)**[[LSS - 3 DoF Parts>>doc:.3dof-arm-quickstart.3dof-parts.WebHome]]**
119 |(% style="width:125px" %)(((
120 1x
121
122 LSS-3DOF-L-01
123 )))|(% style="width:125px" %)(((
124 5x
125
126 LSS-3DOF-L-02
127 )))|(% style="width:125px" %)(((
128 1x
129
130 LSS-3DOF-L-03
131 )))|(% style="width:125px" %)(((
132 2x
133
134 LSS-3DOF-L-04
135 )))|(% style="width:125px" %)(((
136 1x
137
138 LSS-3DOF-L-05
139 )))|(% style="width:125px" %)(((
140 1x
141
142 LSS-3DOF-L-06
143 )))
144 |(% 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
145 |[[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"]]
146 |(((
147 1x
148
149 LSS-3DOF-BP
150 )))|(((
151 1x
152
153 LSS-3DOF-BS
154 )))|(((
155 2x
156
157 LSS-3DOF-CT-S
158 )))|(((
159 2x
160
161 LSS-3DOF-CT-L
162 )))| |
163 |Base Plate|Back Support|Small Support|Large Support| |
164 |[[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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