Changes for page 4 DoF Robotic Arm

Last modified by Eric Nantel on 2024/07/03 09:35
From version < 73.1 >
edited by Eric Nantel
on 2019/09/12 07:19
To version < 99.1 >
edited by Eric Nantel
on 2019/10/22 09:22
< >
Change comment: Renamed back-links.

Summary

Details

Page properties
Title
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1 -LSS - Articulated Arm
1 +lss-4dof-arm
Content
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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  
... ... @@ -26,10 +26,10 @@
26 26  
27 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="400"/}}
32 -
33 33  = Features =
34 34  
35 35  * 5x fully configurable modular smart servo motors
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44 44  
45 45  * Axes: 4 degrees of freedom + 1 (gripper)
46 46  * Max Horizontal Reach: 15.75" / 400mm
47 -* Max Vertical Reach: 15.75" / 400mm
48 -* Payload: ~_~__g (max reach)
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 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-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-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
... ... @@ -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, 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| | | |
... ... @@ -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|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]]**

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