Summary

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...	...	@@ -14,7 +14,7 @@
14	14
15	15	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.
16	16
17		-{Image showing teach mode}
	17	+{Image showing brackets, modularity}
18	18
19	19	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.
20	20
...	...	@@ -24,8 +24,10 @@
24	24
25	25	{Image of LSS FlowArm}
26	26
	27	+
27	27	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.
28	28
	30	+
29	29	= Features =
30	30
31	31	* 5x fully configurable modular smart servo motors
...	...	@@ -33,35 +33,33 @@
33	33	* V-style gripper opens from 0 to 180 degrees
34	34	* Compatible with Lynxmotion Servo Erector Set electronics
35	35	* Create sequences using handheld teach mode, coordinates, virtual arm
36		-* Built-in safety features (over current, temperature, voltage)
	38	+* Built-in safety (current, temperature, voltage)
37	37	* Easy to understand and human readable LSS communication protocol
38	38
39	39	= Specifications =
40	40
41		-* Axes: 4 degrees of freedom + 1 (gripper)
42		-* Max Horizontal Reach: ~_~__mm
43		-* Max Vertical Reach: ~_~__mm
44		-* Payload: ~_~__g (max reach)
45		-* Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
46		-* Power Supply Out: 12V, 6A DC with XT60 connector
47		-* Weight: ~_~_~_~_ Kg / ~_~_~_~_ pounds
	43	+Axes: 4 degrees of freedom + 1 (gripper)
	44	+Max Horizontal Reach: ___mm
	45	+Max Vertical Reach:  ___mm
	46	+Payload: ___g (max reach)
	47	+Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
	48	+Power Supply Out: 12V, 6A DC with XT60 connector
	49	+Weight: Kg / pounds__
48	48
49		-== Actuators ==
	51	+Actuators
	52	+Location Type Static Torque Max Speed
50	50
51		-(% style="width:350px" %)
52		-|**Location**|**Type**|**Static Torque**|**Max Speed**
53		-|Base|ST1|14Kg-cm|360° /s
54		-|Shoulder|HT1|29Kg-cm|360° /s
55		-|Elbow|ST1|14Kg-cm|360° /s
56		-|Wrist|ST1|14Kg-cm|360° /s
57		-|Gripper|ST1|14Kg-cm|360° /
	54	+Base ST1 14Kg-cm 360° /s
	55	+Shoulder HT1 29Kg-cm 360° /s
	56	+Elbow ST1 14Kg-cm 360° /s
	57	+Wrist ST1 14Kg-cm 360° /s
	58	+Gripper ST1 14Kg-cm 360° /s
58	58
59		-**Note that when operated at lower voltages, the torque and speed are reduced.**
	60	+Note that when operated at lower voltages, the torque and speed are reduced.
60	60
61	61	= Dimensions =
62	62
63	63	{Dimensional views: side & top; Metric and imperial units
64		-
65	65	Include arc, reach, lower limits (below the base) etc.}
66	66
67	67	= Assembly Guide =