4 DoF Robotic Arm

Last modified by Eric Nantel on 2024/07/03 09:35


LSS - Articulated Robotic Arm.jpg

Table of Contents


Lynxmotion’s 6th generation articulated robotic arm is intended as a hobby / scale version of an industrial robotic arm and is designed around the fully configurable Lynxmotion Smart Servo motors and Lynxmotion Servo Erector Set (SES v2) modular construction system. 

With ShellsWithout Shells

This versatile setup facilitates customization and expansion for applications through the use of additional brackets, electronics, sensors and more, and adding additional degrees of freedom or changing the gripper is straightforward.

Although well suited for use on a desk for development and experimentation, the arm can be easily fitted on a mobile robot and powered using a 3S (11.1V) LiPo battery (sold separately) with XT60 connector. The included LSS Adapter electronics board makes connecting to an Arduino shield compatible board, Raspberry Pi, XBee or other serial device easy.

CAD design files, as well as examples using Arduino and Python are available so that students and hobbyists can integrate the arm into their projects. The graphical user interface LSS FlowArm, created using FlowBotics Studio, makes recording and playing back sequences effortless. 

Wiki page for FlowArm LSS

The Lynxmotion smart servo motors were designed and optimized for articulated robotic joints and ease of use. The custom LSS communication protocol is human readable, uses full duplex (dedicated Tx and Rx lines) and selectable baud rates. Optimize the motion by changing the properties of each servo; anything from setting a maximum speed or angular range to the angular acceleration, holding stiffness and more. Each servo can be queried for a wide variety of real-time values or configured settings, including sensor feedback from the absolute encoder (position, speed and more), current, voltage and temperature.


  • 5x fully configurable modular smart servo motors
  • Modular aluminum brackets, carbon fiber tubing and more
  • V-style gripper opens from 0 to 180 degrees
  • Compatible with Lynxmotion Servo Erector Set electronics
  • Create sequences using handheld teach mode, coordinates, virtual arm
  • Built-in safety features (over current, temperature, voltage) 
  • Easy to understand and human readable LSS communication protocol


  • Axes: 4 degrees of freedom + 1 (gripper)
  • Max Horizontal Reach: 15.910" / 404.12mm
  • Max Vertical Reach: 19.899" / 505.44mm 
  • Payload: 100g (max reach)*
  • Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
  • Power Supply Out: 12V, 6A DC with XT60 connector
  • Weight: 1.43 pounds / 0.650 Kg

* Note that if holding 100g at full reach, the shoulder and elbow servos will heat up rapidly. Payload increases closer to the base.

Quickstart Guide / Assembly


LSS 4 DoF Robotic Arm KIT steps:

LSS 4 DoF Robotic Arm ASSEMBLED steps:

LSS 4 DoF Robotic Arm Software:

LSS 4 DoF Robotic Arm Parts:

LSS 4 DoF Robotic Arm & ROS2


LocationTypeStatic TorqueMax Speed
BaseST114Kg-cm360° /s
ShoulderHT129Kg-cm360° /s
ElbowHT129Kg-cm360° /s
WristST114Kg-cm360° /s
GripperST114Kg-cm360° /s

Note that when operated at lower voltages, torque and speed are reduced.


What's Included

Smart Servos (LSS)
3x LSS-ST12x LSS-HT1    
LSS StandardLSS High-Torque    
1x LSS-ADA2x LSS-C-300-S12x CC-012x AHS-EC1x 12V-XT601x USBC-02
LSS Adapter300mm CableCable ClipElectronic Clip12V w/ XT60USB to Mini B
Brackets (SES)
3x ASB-283x ASB-391x ASB-302x ASB-352x ASB-361x ASB-42
LSS Single WideShort C V2LSS Double WideGripper MainGripper SecondaryGripper Foam
SES - Gearing & Horns
2x SES-32T     
32T Gear for Horn     
SES - Tubing & Hubs
4x HUB-222x CF-16x14-75    
16mm SES Clamp75mm Carbon Tube    
SES - Mechanics
58x PHS-0219x PHS-166x FHS-015x BB-055x DP-011x BB-03
2-56 x 1/4"M3 x 10mmFlat M3 x 8mmBearing BeedsDowel PinBearing 8x3mm
5x AHS-194x AHS-20    
M3 x 40mmM3 x 18mm    
Silicon GreaseThread Lock    
Base Rotate Parts
1x - LSS-BR-T1x - LSS-BR-M11x - LSS-BR-M21x - LSS-BR-B  
Top PlateMiddle Plate 1Middle Plate 2 Bottom Plate  
Created by Eric Nantel on 2024/07/03 09:35
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