Changes for page 4 DoF Robotic Arm
Last modified by Eric Nantel on 2024/07/03 09:35
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- SESV2-LSS-ARTICULATED-ARM-FINAL.PNG
- LSS-4DOF-CAD.zip
- LSS-ARTICULATED-ARM-Shells.gif
- SESV2-LSS-ARTICULATED-ARM-A4WD.png
- SESV2-LSS-ARTICULATED-ARM-Enveloppe-Rev2.png
- SESV2-LSS-ARTICULATED-ARM-FaceToFace.png
- SESV2-LSS-ARTICULATED-ARM-FlowArm.jpg
- SESV2-LSS-ARTICULATED-ARM-Side-Bare.png
- SESV2-LSS-ARTICULATED-ARM-Side-Shells.png
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... ... @@ -1,4 +1,7 @@ 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"]] 1 +{{lightbox image="SESV2-LSS-ARTICULATED-ARM.png" width="350"/}} 2 + 3 +[[[[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-smart-servos-articulated-arm.html||rel="noopener noreferrer" target="_blank"]] 4 + 2 2 **Table of Contents** 3 3 4 4 {{toc/}} ... ... @@ -5,28 +5,105 @@ 5 5 6 6 = Description = 7 7 8 - TheSES V2 (BETA)articulatedarm is a 4+1 degreeof freedom (DoF) robotic armwhich hasa servoinhebase, shoulder, elbow,wristand gripper.Thisvariationmakes useofthe SES V2 externalgearingsystem, V-stylegripper,LSSadapter andmore. Thiswas the armdesignoriginally suggestedto SES V2 Betatesters. If you havepurchasedtheLynxmotion SES V2 ArticulatedRobot armkit, doNOT use thisguideas itiskeptonline forreferenceonly.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. 9 9 13 +(% style="width:600px" %) 14 +|(% style="text-align:center; width:300px" %)**With Shells**|(% style="text-align:center; width:300px" %)**Without Shells** 15 +|(% colspan="2" style="width:350px" %){{lightbox image="SESV2-LSS-ARTICULATED-ARM-FaceToFace.png"/}} 16 + 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 + 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 +{{lightbox image="SESV2-LSS-ARTICULATED-ARM-A4WD.png" title="LSS Articulated Arm on A4WD Platform" width="400"/}} 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 +{{lightbox image="SESV2-LSS-ARTICULATED-ARM-FlowArm.jpg" title="LSS FlowArm Software" width="400"/}} 26 + 27 +Wiki page for [[doc:servo-erector-set-system.ses-software.lss-flowarm.WebHome]] 28 + 29 +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. 30 + 10 10 = Features = 11 11 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 33 +* 5x fully configurable modular smart servo motors 34 +* Modular aluminum brackets, carbon fiber tubing and more 35 +* V-style gripper opens from 0 to 180 degrees 36 +* Compatible with Lynxmotion Servo Erector Set electronics 37 +* Create sequences using handheld teach mode, coordinates, virtual arm 38 +* Built-in safety features (over current, temperature, voltage) 39 +* Easy to understand and human readable LSS communication protocol 16 16 17 17 = Specifications = 18 18 19 -N/A 43 +* Axes: 4 degrees of freedom + 1 (gripper) 44 +* Max Horizontal Reach: 15.910" / 404.12mm 45 +* Max Vertical Reach: 19.899" / 505.44mm 46 +* Payload: 100g (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: 1.43 pounds / 0.650 Kg 20 20 51 +~* Note that if holding 100g at full reach, the shoulder and elbow servos will heat up rapidly. Payload increases closer to the base. 52 + 53 += Quickstart Guide / Assembly = 54 + 55 +{{include reference="servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-4dof-arm.4dof-arm-quickstart.WebHome" context="NEW"/}} 56 + 57 += Actuators = 58 + 59 +(% style="width:350px" %) 60 +|**Location**|**Type**|**Static Torque**|**Max Speed** 61 +|Base|ST1|14Kg-cm|360° /s 62 +|Shoulder|HT1|29Kg-cm|360° /s 63 +|Elbow|HT1|29Kg-cm|360° /s 64 +|Wrist|ST1|14Kg-cm|360° /s 65 +|Gripper|ST1|14Kg-cm|360° /s 66 +|(% colspan="4" %)((( 67 +**Note that when operated at lower voltages, torque and speed are reduced.** 68 +))) 69 + 21 21 = Dimensions = 22 22 23 - N/A72 +{{lightbox image="SESV2-LSS-ARTICULATED-ARM-Enveloppe-Rev2.png" width="400"/}} 24 24 25 -= AssemblyGuide =74 += What's Included = 26 26 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]] 76 +(% style="max-width:750px" %) 77 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]** 78 +|3x LSS-ST1|2x LSS-HT1| | | | 79 +|LSS Standard|LSS High-Torque| | | | 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"]]| | | | 81 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]** 82 +|1x LSS-ADA|2x LSS-C-300-S|12x CC-01|2x AHS-EC|1x 12V-XT60|1x USBC-02 83 +|LSS Adapter|300mm Cable|Cable Clip|Electronic Clip|12V w/ XT60|USB to Mini B 84 +|[[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-mechanics.ses-miscellaneous.WebHome@AHS-EC.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]] 85 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]** 86 +|3x ASB-28|3x ASB-39|1x ASB-30|2x ASB-35|2x ASB-36|1x ASB-42 87 +|LSS Single Wide|Short C V2|LSS Double Wide|Gripper Main|Gripper Secondary|Gripper Foam 88 +|[[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]] 89 +|(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]** 90 +|1x SG-32T-D|1x SG-32T-I| | | | 91 +|32T Driving Gear|32T Idler Gear| | | | 92 +|[[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"]]| | | | 93 +|(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]** 94 +|4x HUB-22|2x CF-16x14-75| | | | 95 +|16mm SES Clamp|75mm Carbon Tube| | | | 96 +|[[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]]| | | | 97 +|(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]** 98 +|58x PHS-02|19x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03 99 +|2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm 100 +|[[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]] 101 +|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]** 102 +|5x AHS-19|4x AHS-20| | | | 103 +|M3 x 40mm|M3 x 18mm| | | | 104 +|[[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"]]| | | | 109 +|(% 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]]** 110 +|(% 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" %) 111 +|(% 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" %) 112 +|[[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]]| |
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