Changes for page 4 DoF Robotic Arm

Last modified by Eric Nantel on 2024/07/03 09:35
From version < 161.1 >
edited by Eric Nantel
on 2020/10/05 10:41
To version < 179.2 >
edited by Eric Nantel
on 2023/02/21 06:34
< >
Change comment: Update document after refactoring.

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1 -LSS - 4 DoF Robotic Arm
1 +lss-4dof-arm
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1 -servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.WebHome
1 +ses-v2-arms.WebHome
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16 16  
17 17  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.
18 18  
19 -{Image showing teach mode}
20 -
21 21  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.
22 22  
23 23  {{lightbox image="SESV2-LSS-ARTICULATED-ARM-A4WD.png" title="LSS Articulated Arm on A4WD Platform" width="400"/}}
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26 26  
27 27  {{lightbox image="SESV2-LSS-ARTICULATED-ARM-FlowArm.jpg" title="LSS FlowArm Software" width="400"/}}
28 28  
29 -Wiki page for [[doc:servo-erector-set-system.ses-software.lss-flowarm.WebHome]]
27 +Wiki page for [[doc:ses-software.lss-flowarm.WebHome]]
30 30  
31 31  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.
32 32  
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43 43  = Specifications =
44 44  
45 45  * Axes: 4 degrees of freedom + 1 (gripper)
46 -* Max Horizontal Reach: 15.819" / 401.80mm
47 -* Max Vertical Reach: 19.808" / 503.12mm
44 +* Max Horizontal Reach: 15.910" / 404.12mm
45 +* Max Vertical Reach: 19.899" / 505.44mm
48 48  * Payload: 100g (max reach)*
49 49  * Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
50 50  * Power Supply Out: 12V, 6A DC with XT60 connector
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54 54  
55 55  = Quickstart Guide / Assembly =
56 56  
57 -{{include reference="servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-4dof-arm.4dof-arm-quickstart.WebHome" context="NEW"/}}
55 +{{include reference="ses-v2-arms.lss-4dof-arm.4dof-arm-quickstart.WebHome" context="NEW"/}}
58 58  
59 59  = Actuators =
60 60  
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62 62  |**Location**|**Type**|**Static Torque**|**Max Speed**
63 63  |Base|ST1|14Kg-cm|360° /s
64 64  |Shoulder|HT1|29Kg-cm|360° /s
65 -|Elbow|ST1|14Kg-cm|360° /s
63 +|Elbow|HT1|29Kg-cm|360° /s
66 66  |Wrist|ST1|14Kg-cm|360° /s
67 67  |Gripper|ST1|14Kg-cm|360° /s
68 68  |(% colspan="4" %)(((
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71 71  
72 72  = Dimensions =
73 73  
74 -{{lightbox image="SESV2-LSS-ARTICULATED-ARM-Reach-rev1.jpg" width="400"/}}
72 +{{lightbox image="SESV2-LSS-ARTICULATED-ARM-Enveloppe-Rev2.png" width="400"/}}
75 75  
76 76  = What's Included =
77 77  
78 78  (% style="max-width:750px" %)
79 79  |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
80 -|4x LSS-ST1|1x LSS-HT1| | | |
78 +|3x LSS-ST1|2x LSS-HT1| | | |
81 81  |LSS Standard|LSS High-Torque| | | |
82 -|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-Horns.PNG||alt="LSS-ST1.png"]]|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-HT1-Horns.PNG||alt="LSS-HT1.png"]]| | | |
80 +|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-HORNS.PNG||alt="LSS-ST1.png"]]|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-HT1-HORNS.PNG||alt="LSS-HT1.png"]]| | | |
83 83  |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
84 84  |1x LSS-ADA|2x LSS-C-300-S|12x CC-01|2x AHS-EC|1x 12V-XT60|1x USBC-02
85 85  |LSS Adapter|300mm Cable|Cable Clip|Electronic Clip|12V w/ XT60|USB to Mini B
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89 89  |LSS Single Wide|Short C V2|LSS Double Wide|Gripper Main|Gripper Secondary|Gripper Foam
90 90  |[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-28.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-39.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-30.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-35.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-36.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-42.png]]
91 91  |(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]**
92 -|1x SG-32T-D|1x SG-32T-I| | | |
93 -|32T Driving Gear|32T Idler Gear| | | |
94 -|[[image:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome@SG-32T-D.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome@SG-32T-I.png||alt="ASB-39.png"]]| | | |
90 +|2x SES-32T| | | | |
91 +|32T Gear for Horn| | | | |
92 +|[[image:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome@SES-32T.png]]| | | | |
95 95  |(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
96 96  |4x HUB-22|2x CF-16x14-75| | | |
97 97  |16mm SES Clamp|75mm Carbon Tube| | | |
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104 104  |5x AHS-19|4x AHS-20| | | |
105 105  |M3 x 40mm|M3 x 18mm| | | |
106 106  |[[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"]]| | | |
105 +|(% colspan="6" %)**[[Miscellaneous>>path:/info/wiki/lynxmotion/view/servo-erector-set-system/ses-mechanics/ses-miscellaneous/]]**
106 +|WBSF-2|WBTL-1| | | |
107 +|Silicon Grease|Thread Lock| | | |
108 +|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@WBSF-2.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome@WBTL-1.PNG||alt="PHS-02.png"]]| | | |
107 107  |(% 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]]**
108 108  |(% 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" %)
109 109  |(% 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" %)
SESV2-LSS-ARTICULATED-ARM-Reach-rev1.jpg
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