Wiki source code of LSS - Articulated Arm

Version 34.1 by Eric Nantel on 2019/08/07 09:30
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Eric Nantel 5.1 1 [[image:SESV2-LSS-ARTICULATED-ARM-FINAL.PNG||queryString="width=350" alt="SESV2-BETA-ARM.png" width="350"]]
Eric Nantel 13.1 2
Eric Nantel 17.2 3 [[[[image:[email protected]]]>>https://www.robotshop.com/en/lynxmotion.html||rel="noopener noreferrer" target="_blank"]]
Eric Nantel 13.1 4
Eric Nantel 3.1 5 **Table of Contents**
6
7 {{toc/}}
8
9 = Description =
10
Eric Nantel 34.1 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.
Eric Nantel 3.1 12 = Features =
13
Eric Nantel 34.1 14 5x fully configurable modular smart servo motors
15 Modular aluminum brackets, carbon fiber tubing and more
16 V-style gripper opens from 0 to 180 degrees
17 Compatible with Lynxmotion Servo Erector Set electronics
18 Create sequences using handheld teach mode, coordinates, virtual arm
19 Built-in safety (current, temperature, voltage)
20 Easy to understand and human readable LSS communication protocol
21
Eric Nantel 3.1 22 = Specifications =
23
Eric Nantel 34.1 24 Axes: 4 degrees of freedom + 1 (gripper)
25 Max Horizontal Reach: ___mm
26 Max Vertical Reach: ___mm
27 Payload: ___g (max reach)
28 Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
29 Power Supply Out: 12V, 6A DC with XT60 connector
30 Weight: ____ Kg / ____ pounds
31
32 Actuators
33 Location Type Static Torque Max Speed
34
35 Base ST1 14Kg-cm 360° /s
36 Shoulder HT1 29Kg-cm 360° /s
37 Elbow ST1 14Kg-cm 360° /s
38 Wrist ST1 14Kg-cm 360° /s
39 Gripper ST1 14Kg-cm 360° /s
40
41 Note that when operated at lower voltages, the torque and speed are reduced.
42
Eric Nantel 3.1 43 = Dimensions =
44
45 = Assembly Guide =
46
Eric Nantel 32.1 47 1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-articulated-arm.lss-articulated-arm-servo-setup.WebHome]]
Eric Nantel 7.1 48 1. [[doc:.lss-articulated-arm-base.WebHome]]
49 1. [[doc:.lss-articulated-arm-links.WebHome]]
50 1. [[doc:.lss-articulated-arm-gripper.WebHome]]
Eric Nantel 8.1 51 1. [[doc:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-arms.lss-articulated-arm.lss-articulated-arm-assembly.WebHome]]
Eric Nantel 16.1 52 1. [[doc:.lss-articulated-arm-electronics.WebHome]]
Eric Nantel 12.1 53 1. [[doc:.lss-articulated-arm-wiring.WebHome]]
Eric Nantel 17.1 54 1. [[doc:.lss-articulated-arm-shells.WebHome]]
Eric Nantel 11.2 55
Eric Nantel 28.1 56 (% class="wikigeneratedid" %)
57 This page is there to help anybody to build an Arm based on the LSS servos.
58
Eric Nantel 29.1 59 = What's Needed =
Eric Nantel 28.1 60
Eric Nantel 11.2 61 (% style="max-width:750px" %)
Eric Nantel 21.3 62 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
63 |4x LSS-ST1|1x LSS-HT1| | | |
64 |LSS Standard|LSS High-Torque| | | |
Eric Nantel 33.1 65 |[[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"]]| | | |
Eric Nantel 21.3 66 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
Eric Nantel 23.1 67 |1x LSS-ADA|2x LSS-C-300-S|12x CC-01|1x 12V-XT60|1x USBC-02|
68 |LSS Adapter|300mm Cable|Cable Clip|12V w/ XT60|USB to Mini B|
Eric Nantel 24.1 69 |[[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]]|
Eric Nantel 20.1 70 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
71 |3x ASB-28|3x ASB-39|1x ASB-30|2x ASB-35|2x ASB-36|1x ASB-42
72 |LSS Single Wide|Short C V2|LSS Double Wide|Gripper Main|Gripper Secondary|Gripper Foam
73 |[[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]]
Eric Nantel 20.2 74 |(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]**
75 |1x SG-32T-D|1x SG-32T-I| | | |
Eric Nantel 20.3 76 |32T Driving Gear|32T Idler Gear| | | |
77 |[[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"]]| | | |
Eric Nantel 20.2 78 |(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
79 |4x HUB-22|2x CF-16x14-75| | | |
Eric Nantel 20.4 80 |16mm SES Clamp|75mm Carbon Tube| | | |
81 |[[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]]| | | |
Eric Nantel 11.2 82 |(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
Eric Nantel 18.1 83 |58x PHS-02|18x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03
84 |2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm
85 |[[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]]
Eric Nantel 22.3 86 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**
87 |5x AHS-19|4x AHS-20| | | |
88 |M3 x 40mm|M3 x 18mm| | | |
89 |[[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"]]| | | |
Eric Nantel 18.2 90 |(% 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]]**
Eric Nantel 11.2 91 |(% 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" %)
Eric Nantel 17.2 92 |(% 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" %)
Eric Nantel 11.2 93 |[[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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