Changes for page 4 DoF Robotic Arm

Last modified by Eric Nantel on 2024/07/03 09:35
From version < 39.1 >
edited by Eric Nantel
on 2019/09/09 09:52
To version < 3.1 >
edited by Eric Nantel
on 2019/05/15 13:45
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1 -[[image:SESV2-LSS-ARTICULATED-ARM-FINAL.PNG||queryString="width=350" alt="SESV2-BETA-ARM.png" width="350"]]
2 -
3 -[[[[image:[email protected]]]>>https://www.robotshop.com/en/lynxmotion.html||rel="noopener noreferrer" target="_blank"]]
4 -
1 +[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.articulated-arm-beta.articulated-arm-beta-arm.WebHome@SESV2-BETA-ARM.png||queryString="width=350" width="350"]]
5 5  **Table of Contents**
6 6  
7 7  {{toc/}}
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8 8  
9 9  = Description =
10 10  
11 -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.
8 +The SES V2 (BETA) articulated arm is a 4+1 degree of freedom (DoF) robotic arm which has a servo in the base, shoulder,  elbow, wrist and gripper. This variation makes use of the SES V2 external gearing system, V-style gripper, LSS adapter and more. This was the arm design originally suggested to SES V2 Beta testers. If you have purchased the Lynxmotion SES V2 Articulated Robot arm kit, do NOT use this guide as it is kept online for reference only.
12 12  
13 -{Arm with shell}
14 -
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 -
17 -{Image showing teach mode}
18 -
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 -
21 -{Picture atop an A4WD1 robot)
22 -
23 -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.
24 -
25 -{Image of LSS FlowArm}
26 -
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 -
29 29  = Features =
30 30  
31 -* 5x fully configurable modular smart servo motors
32 -* Modular aluminum brackets, carbon fiber tubing and more
33 -* V-style gripper opens from 0 to 180 degrees
34 -* Compatible with Lynxmotion Servo Erector Set electronics
35 -* Create sequences using handheld teach mode, coordinates, virtual arm
36 -* Built-in safety features (over current, temperature, voltage)
37 -* Easy to understand and human readable LSS communication protocol
12 +* 5x Lynxmotion Smart Servo Motors
13 +* Lightweight aluminum brackets and carbon fiber tubing
14 +* LSS Adapter, 12V power supply
15 +* V-style gripper design
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
19 +N/A
48 48  
49 -== Actuators ==
21 += Dimensions =
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° /
58 -|(% colspan="4" %)(((
59 -**Note that when operated at lower voltages, the torque and speed are reduced.**
60 -)))
23 +N/A
61 61  
62 -Dimensions
63 -
64 -{Dimensional views: side & top; Metric and imperial units
65 -
66 -Include arc, reach, lower limits (below the base) etc.}
67 -
68 68  = Assembly Guide =
69 69  
70 -1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-articulated-arm.lss-articulated-arm-servo-setup.WebHome]]
71 -1. [[doc:.lss-articulated-arm-base.WebHome]]
72 -1. [[doc:.lss-articulated-arm-links.WebHome]]
73 -1. [[doc:.lss-articulated-arm-gripper.WebHome]]
74 -1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-articulated-arm.lss-articulated-arm-assembly.WebHome]]
75 -1. [[doc:.lss-articulated-arm-electronics.WebHome]]
76 -1. [[doc:.lss-articulated-arm-wiring.WebHome]]
77 -1. [[doc:.lss-articulated-arm-shells.WebHome]]
78 -
79 -(% class="wikigeneratedid" %)
80 -This page is there to help anybody to build an Arm based on the LSS servos.
81 -
82 -= What's Needed =
83 -
84 -(% style="max-width:750px" %)
85 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
86 -|4x LSS-ST1|1x LSS-HT1| | | |
87 -|LSS Standard|LSS High-Torque| | | |
88 -|[[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"]]| | | |
89 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
90 -|1x LSS-ADA|2x LSS-C-300-S|12x CC-01|1x 12V-XT60|1x USBC-02|
91 -|LSS Adapter|300mm Cable|Cable Clip|12V w/ XT60|USB to Mini B|
92 -|[[image:servo-erector-set-system.ses-electronics.ses-modules.lss-adapter-board.WebHome@LSS-ADA.png]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@LSS-C-100.png]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@CC-01.PNG]]|[[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]]|
93 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
94 -|3x ASB-28|3x ASB-39|1x ASB-30|2x ASB-35|2x ASB-36|1x ASB-42
95 -|LSS Single Wide|Short C V2|LSS Double Wide|Gripper Main|Gripper Secondary|Gripper Foam
96 -|[[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]]
97 -|(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]**
98 -|1x SG-32T-D|1x SG-32T-I| | | |
99 -|32T Driving Gear|32T Idler Gear| | | |
100 -|[[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"]]| | | |
101 -|(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
102 -|4x HUB-22|2x CF-16x14-75| | | |
103 -|16mm SES Clamp|75mm Carbon Tube| | | |
104 -|[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@HUB-22.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome@CF-16x14-75.png]]| | | |
105 -|(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
106 -|58x PHS-02|18x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03
107 -|2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm
108 -|[[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]]
109 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**
110 -|5x AHS-19|4x AHS-20| | | |
111 -|M3 x 40mm|M3 x 18mm| | | |
112 -|[[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"]]| | | |
113 -|(% 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]]**
114 -|(% 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" %)
115 -|(% 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" %)
116 -|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Top.PNG]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Middle-01.PNG]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Middle-02.PNG]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-base-rotate-g10.lss-base-rotate-g10-parts.WebHome@LSS-BR-KT-G10-Bottom.PNG]]| |
27 +1. [[Articulated Arm (BETA) - Gearbox>>doc:.articulated-arm-beta-gearbox.WebHome]]
28 +1. [[Articulated Arm (BETA) - Lower Arm>>doc:.articulated-arm-beta-lower-arm.WebHome]]
29 +1. [[Articulated Arm (BETA) - Upper Arm>>doc:.articulated-arm-beta-upper-arm.WebHome]]
30 +1. [[Articulated Arm (BETA) - Base>>doc:.articulated-arm-beta-base.WebHome]]
31 +1. [[Articulated Arm (BETA) - Gripper>>doc:.articulated-arm-beta-gripper.WebHome]]
32 +1. [[Articulated Arm (BETA) - Arm>>doc:.articulated-arm-beta-arm.WebHome]]
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