Changes for page 4 DoF Robotic Arm

Last modified by Eric Nantel on 2024/07/03 09:35
From version < 80.1 >
edited by Coleman Benson
on 2019/09/16 12:26
To version < 181.1 >
edited by Eric Nantel
on 2023/02/21 09:53
< >
Change comment: Renamed back-links.

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Title
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1 -LSS - Articulated Arm
1 +4 DoF Robotic Arm
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1 -servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.WebHome
1 +ses-v2-arms.WebHome
Author
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1 -xwiki:XWiki.CBenson
1 +xwiki:XWiki.ENantel
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1 -[[image:SESV2-LSS-ARTICULATED-ARM.png||queryString="width=350" alt="SESV2-BETA-ARM.png" width="350"]]
1 +{{lightbox image="SESV2-LSS-ARTICULATED-ARM.png" width="350"/}}
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:800px" %)
13 +(% style="width:600px" %)
14 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.
18 18  
19 -{Image showing teach mode}
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 23  {{lightbox image="SESV2-LSS-ARTICULATED-ARM-A4WD.png" title="LSS Articulated Arm on A4WD Platform" width="400"/}}
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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]]
27 +Wiki page for [[doc:ses-software.lss-flowarm.WebHome]]
30 30  
31 31  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.
32 32  
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43 43  = Specifications =
44 44  
45 45  * Axes: 4 degrees of freedom + 1 (gripper)
46 -* Max Horizontal Reach: 15.75" / 400mm
47 -* Max Vertical Reach: 15.75" / 500mm
44 +* Max Horizontal Reach: 15.910" / 404.12mm
45 +* Max Vertical Reach: 19.899" / 505.44mm
48 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
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52 52  
53 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  
53 += Quickstart Guide / Assembly =
54 +
55 +{{include reference="ses-v2-arms.lss-4dof-arm.4dof-arm-quickstart.WebHome" context="NEW"/}}
56 +
55 55  = Actuators =
56 56  
57 57  (% style="width:350px" %)
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58 58  |**Location**|**Type**|**Static Torque**|**Max Speed**
59 59  |Base|ST1|14Kg-cm|360° /s
60 60  |Shoulder|HT1|29Kg-cm|360° /s
61 -|Elbow|ST1|14Kg-cm|360° /s
63 +|Elbow|HT1|29Kg-cm|360° /s
62 62  |Wrist|ST1|14Kg-cm|360° /s
63 63  |Gripper|ST1|14Kg-cm|360° /s
64 64  |(% colspan="4" %)(((
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67 67  
68 68  = Dimensions =
69 69  
70 -{{lightbox image="SESV2-LSS-ARTICULATED-ARM-SideReach.png" width="400"/}}
72 +{{lightbox image="SESV2-LSS-ARTICULATED-ARM-Enveloppe-Rev2.png" width="400"/}}
71 71  
72 -= Assembly Guide =
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 86  = What's Included =
87 87  
88 88  (% style="max-width:750px" %)
89 89  |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
90 -|4x LSS-ST1|1x LSS-HT1| | | |
78 +|3x LSS-ST1|2x LSS-HT1| | | |
91 91  |LSS Standard|LSS High-Torque| | | |
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"]]| | | |
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"]]| | | |
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]]|
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-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
100 100  |[[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]]
101 101  |(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]**
102 -|1x SG-32T-D|1x SG-32T-I| | | |
103 -|32T Driving Gear|32T Idler Gear| | | |
104 -|[[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"]]| | | |
90 +|2x SES-32T| | | | |
91 +|32T Gear for Horn| | | | |
92 +|[[image:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome@SES-32T.png]]| | | | |
105 105  |(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
106 106  |4x HUB-22|2x CF-16x14-75| | | |
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
98 +|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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114 114  |5x AHS-19|4x AHS-20| | | |
115 115  |M3 x 40mm|M3 x 18mm| | | |
116 116  |[[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"]]| | | |
117 -|(% 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]]**
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:ses-v2-arms.lss-base-rotate.lss-base-rotate-g10-parts.WebHome]]**
118 118  |(% 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" %)
119 119  |(% 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" %)
120 120  |[[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]]| |
SESV2-LSS-ARTICULATED-ARM-SideReach.png
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