Changes for page 4 DoF Robotic Arm

Last modified by Eric Nantel on 2024/07/03 09:35
From version < 68.1 >
edited by Eric Nantel
on 2019/09/11 08:27
To version < 94.1 >
edited by Eric Nantel
on 2019/10/22 09:22
< >
Change comment: Renamed back-links.

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Title
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1 -LSS - Articulated Arm
1 +lss-4dof-arm
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1 -[[image:SESV2-LSS-ARTICULATED-ARM.png||queryString="width=350" alt="SESV2-BETA-ARM.png" width="350"]]
1 +{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-articulated-arm/WebHome/SESV2-LSS-ARTICULATED-ARM.png" width="400"/}}
2 2  
3 -[[[[image:lynxmotion-wiki-attachments.WebHome@ComingSoon.jpg]]>>https://www.robotshop.com/en/lynxmotion.html||rel="noopener noreferrer" target="_blank"]]
3 +[[[[image:lynxmotion-wiki-attachments.WebHome@BuyOnline.jpg||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-smart-servos-articulated-arm.html||rel="noopener noreferrer" target="_blank"]]
4 4  
5 5  **Table of Contents**
6 6  
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10 10  
11 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.
12 12  
13 -(% style="width:700px" %)
14 -|(% style="text-align:center; width:350px" %)**With Shells**|(% style="text-align:center; width:350px" %)**Without Shells**
13 +(% style="width:600px" %)
14 +|(% style="text-align:center; width:300px" %)**With Shells**|(% style="text-align:center; width:300px" %)**Without Shells**
15 15  |(% colspan="2" style="width:350px" %){{lightbox image="SESV2-LSS-ARTICULATED-ARM-FaceToFace.png"/}}
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.
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20 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 -{{lightbox image="SESV2-LSS-ARTICULATED-ARM-A4WD.png" width="700"/}}
23 +{{lightbox image="SESV2-LSS-ARTICULATED-ARM-A4WD.png" title="LSS Articulated Arm on A4WD Platform" width="400"/}}
24 24  
25 25  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.
26 26  
27 -{{lightbox image="SESV2-LSS-ARTICULATED-ARM-FlowArm.jpg" width="700"/}}
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]]
30 +
29 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 30  
31 -{Working envelope}
32 -
33 33  = Features =
34 34  
35 35  * 5x fully configurable modular smart servo motors
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43 43  = Specifications =
44 44  
45 45  * Axes: 4 degrees of freedom + 1 (gripper)
46 -* Max Horizontal Reach: ~_~__mm
47 -* Max Vertical Reach: ~_~__mm
48 -* Payload: ~_~__g (max reach)
46 +* Max Horizontal Reach: 15.75" / 400mm
47 +* Max Vertical Reach: 15.75" / 500mm
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
51 -* Weight: ~_~_~_~_ Kg / ~_~_~_~_ pounds
51 +* Weight: 1.43 pounds / 0.650 Kg
52 52  
53 -== Actuators ==
53 +~* Note that if holding 100g at full reach, the shoulder and elbow servos will heat up rapidly. Payload increases closer to the base.
54 54  
55 += Assembly Guides =
56 +
57 +LSS Articulated Robotic Arm Kit
58 +
59 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-articulated-arm.lss-articulated-arm-servo-setup.WebHome]]
60 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-articulated-arm.lss-articulated-arm-base.WebHome]]
61 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-articulated-arm.lss-articulated-arm-links.WebHome]]
62 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-articulated-arm.lss-articulated-arm-gripper.WebHome]]
63 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-articulated-arm.lss-articulated-arm-assembly.WebHome]]
64 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-articulated-arm.lss-articulated-arm-electronics.WebHome]]
65 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-articulated-arm.lss-articulated-arm-wiring.WebHome]]
66 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-articulated-arm.lss-articulated-arm-shells.WebHome]]
67 +
68 +LSS Articulated Robotic Arm Kit Assembled
69 +
70 +1. [[LSS Articulated Arm - Assembled Version>>doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-4dof-arm.lss-articulated-arm-assembled.WebHome]]
71 +
72 += Actuators =
73 +
55 55  (% style="width:350px" %)
56 56  |**Location**|**Type**|**Static Torque**|**Max Speed**
57 57  |Base|ST1|14Kg-cm|360° /s
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58 58  |Shoulder|HT1|29Kg-cm|360° /s
59 59  |Elbow|ST1|14Kg-cm|360° /s
60 60  |Wrist|ST1|14Kg-cm|360° /s
61 -|Gripper|ST1|14Kg-cm|360° /
80 +|Gripper|ST1|14Kg-cm|360° /s
62 62  |(% colspan="4" %)(((
63 -**Note that when operated at lower voltages, the torque and speed are reduced.**
82 +**Note that when operated at lower voltages, torque and speed are reduced.**
64 64  )))
65 65  
66 -Dimensions
85 += Dimensions =
67 67  
68 -{Dimensional views: side & top; Metric and imperial units
87 +{{lightbox image="SESV2-LSS-ARTICULATED-ARM-SideReach.png" width="400"/}}
69 69  
70 -Include arc, reach, lower limits (below the base) etc.}
89 += =
71 71  
72 -= Assembly Guide =
91 += What's Included =
73 73  
74 -1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-articulated-arm.lss-articulated-arm-servo-setup.WebHome]]
75 -1. [[doc:.lss-articulated-arm-base.WebHome]]
76 -1. [[doc:.lss-articulated-arm-links.WebHome]]
77 -1. [[doc:.lss-articulated-arm-gripper.WebHome]]
78 -1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-articulated-arm.lss-articulated-arm-assembly.WebHome]]
79 -1. [[doc:.lss-articulated-arm-electronics.WebHome]]
80 -1. [[doc:.lss-articulated-arm-wiring.WebHome]]
81 -1. [[doc:.lss-articulated-arm-shells.WebHome]]
82 -
83 -(% class="wikigeneratedid" %)
84 -This page is there to help anybody to build an Arm based on the LSS servos.
85 -
86 -= What's Needed =
87 -
88 88  (% style="max-width:750px" %)
89 89  |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
90 90  |4x LSS-ST1|1x LSS-HT1| | | |
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91 91  |LSS Standard|LSS High-Torque| | | |
92 92  |[[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"]]| | | |
93 93  |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
94 -|1x LSS-ADA|2x LSS-C-300-S|12x CC-01|1x 12V-XT60|1x USBC-02|
95 -|LSS Adapter|300mm Cable|Cable Clip|12V w/ XT60|USB to Mini B|
96 -|[[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]]|
99 +|1x LSS-ADA|2x LSS-C-300-S|12x CC-01|2x AHS-EC|1x 12V-XT60|1x USBC-02
100 +|LSS Adapter|300mm Cable|Cable Clip|Electronic Clip|12V w/ XT60|USB to Mini B
101 +|[[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-miscellane[email protected]]]|[[image:servo-erector-set-system.ses-electr[email protected]]]|[[image:servo-erector-set-system.ses-electronics.ses-wiring.WebHome@USBC-02.PNG]]
97 97  |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
98 98  |3x ASB-28|3x ASB-39|1x ASB-30|2x ASB-35|2x ASB-36|1x ASB-42
99 99  |LSS Single Wide|Short C V2|LSS Double Wide|Gripper Main|Gripper Secondary|Gripper Foam
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107 107  |16mm SES Clamp|75mm Carbon Tube| | | |
108 108  |[[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]]| | | |
109 109  |(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
110 -|58x PHS-02|18x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03
115 +|58x PHS-02|19x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03
111 111  |2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm
112 112  |[[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]]
113 113  |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**
SESV2-LSS-ARTICULATED-ARM-SideReach.png
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