Changes for page 4 DoF Robotic Arm
Last modified by Eric Nantel on 2024/07/03 09:35
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... ... @@ -1,1 +1,1 @@ 1 -LSS - ArticulatedArm1 +LSS - 4 DoF Robotic Arm - Content
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... ... @@ -1,6 +1,6 @@ 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 ... ... @@ -20,16 +20,16 @@ 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" title="LSS Articulated Arm on A4WD Platform" width=" 600"/}}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="600" title="LSS FlowArm Software"/}}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 -{{lightbox image="SESV2-LSS-ARTICULATED-ARM-SideReach.png" width="600"/}} 32 - 33 33 = Features = 34 34 35 35 * 5x fully configurable modular smart servo motors ... ... @@ -43,15 +43,34 @@ 43 43 = Specifications = 44 44 45 45 * Axes: 4 degrees of freedom + 1 (gripper) 46 -* Max Horizontal Reach: ~_~__mm47 -* Max Vertical Reach: ~_~__mm48 -* 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 / ~_~_~_~_pounds51 +* 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-4dof-arm.lss-articulated-arm-servo-setup.WebHome]] 60 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-4dof-arm.lss-articulated-arm-base.WebHome]] 61 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-4dof-arm.lss-articulated-arm-links.WebHome]] 62 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-4dof-arm.lss-articulated-arm-gripper.WebHome]] 63 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-4dof-arm.lss-articulated-arm-assembly.WebHome]] 64 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-4dof-arm.lss-articulated-arm-electronics.WebHome]] 65 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-4dof-arm.lss-articulated-arm-wiring.WebHome]] 66 +1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-4dof-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 ... ... @@ -58,33 +58,19 @@ 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, he 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 -{ Dimensionalviews: side& top; Metricandimperial units87 +{{lightbox image="SESV2-LSS-ARTICULATED-ARM-SideReach.png" width="400"/}} 69 69 70 - Includearc,reach, lower limits (below the base) etc.}89 += = 71 71 72 -= AssemblyGuide =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| | | | ... ... @@ -91,9 +91,9 @@ 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 ... ... @@ -107,7 +107,7 @@ 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|1 8x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03115 +|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]]**