Wiki source code of LSS - 3 DoF Robotic Arm

Version 96.1 by Eric Nantel on 2020/05/22 10:17
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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 83.1 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.
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
Eric Nantel 91.1 19 (% style="width:600px" %)
Eric Nantel 92.1 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"/}}
Eric Nantel 83.1 22
Eric Nantel 86.1 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. 
Eric Nantel 83.1 24
Eric Nantel 93.1 25 {{lightbox image="LSS-3DOF-ELEC.PNG" width="600"/}}
Eric Nantel 83.1 26
Coleman Benson 65.2 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
Eric Nantel 35.1 29 = Features =
30
Coleman Benson 67.1 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
Eric Nantel 35.1 38 = Specifications =
39
Coleman Benson 82.1 40 {//Coming soon//}
41
Coleman Benson 68.1 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
Coleman Benson 69.1 53 = Quickstart Guide =
54
Eric Nantel 78.1 55 {{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 56
57 = Actuators =
58
Eric Nantel 95.1 59 (% style="width:600px" %)
Coleman Benson 82.1 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" %)(((
Coleman Benson 69.1 66 **Note that when operated at lower voltages, torque and speed are reduced.**
67 )))
68
Eric Nantel 35.1 69 = Dimensions =
70
Coleman Benson 82.1 71 {//Coming Soon//}
Coleman Benson 71.1 72
Coleman Benson 72.1 73 = What's Included =
74
Coleman Benson 82.1 75 {//Coming soon//}
76
Coleman Benson 72.1 77 (% style="max-width:750px" %)
Eric Nantel 95.1 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"]]| | | |
Coleman Benson 72.1 82 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
Eric Nantel 95.1 83 |3x LSS-ST1| | | | |
84 |LSS Standard| | | | |
Coleman Benson 72.1 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]]**
Eric Nantel 96.1 87 |1x LSS-ADA|1x LSS-2IO|1x LSS-5VR|1x BX-12006000-XT60|(((
88 1x USBC-02
89 )))|
90 |LSS Adapter|2IO Module|5V Module|12V w/ XT60|USB to Mini B|
91 |[[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]]|
92 |3x LSS-C-100-S|1x LSS-C-150-Y|1x SEA-01|1x SEA-02| |
Eric Nantel 95.1 93 |(((
94 100mm Cable
Eric Nantel 96.1 95 )))|150mm Y Cable|(((
96 6in Extension
97 )))|12in Extension| |
98 |[[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 99 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
Eric Nantel 96.1 100 |2x ASB-28|1x ASB-43| | | |
101 |LSS Single Wide|Mini C Bracket| | | |
102 |[[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 72.1 103 |(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
Coleman Benson 82.1 104 |58x PHS-02|19x PHS-16|6x FHS-01|5x BB-05|5x DP-01|BB-03
Coleman Benson 72.1 105 |2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm
Eric Nantel 96.1 106 |[[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@DP-01.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-bearings.WebHome@BB-03.png]]
Eric Nantel 95.1 107 |2x AHS-EC| | | | |
108 |Electronic Clip| | | | |
109 |[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@AHS-EC.PNG]]| | | | |
Coleman Benson 72.1 110 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**
111 |5x AHS-19|4x AHS-20| | | |
112 |M3 x 40mm|M3 x 18mm| | | |
113 |[[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"]]| | | |
Eric Nantel 95.1 114 |(% colspan="6" style="width:125px" %)**[[LSS - 3 DoF Parts>>doc:.3dof-arm-quickstart.3dof-parts.WebHome]]**
115 |(% style="width:125px" %)(((
116 1x
117
118 LSS-3DOF-L-01
119 )))|(% style="width:125px" %)(((
120 5x
121
122 LSS-3DOF-L-02
123 )))|(% style="width:125px" %)(((
124 1x
125
126 LSS-3DOF-L-03
127 )))|(% style="width:125px" %)(((
128 2x
129
130 LSS-3DOF-L-04
131 )))|(% style="width:125px" %)(((
132 1x
133
134 LSS-3DOF-L-05
135 )))|(% style="width:125px" %)(((
136 1x
137
138 LSS-3DOF-L-06
139 )))
140 |(% 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
141 |[[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"]]
142 |(((
143 1x
144
145 LSS-3DOF-BP
146 )))|(((
147 1x
148
149 LSS-3DOF-BS
150 )))|(((
151 2x
152
153 LSS-3DOF-CT-S
154 )))|(((
155 2x
156
157 LSS-3DOF-CT-L
158 )))| |
159 |Base Plate|Back Support|Small Support|Large Support| |
160 |[[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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