Table of Contents

• Description
• Features
• Specifications
  • Actuators
• Assembly Guide
• What's Needed

Description

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. 

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.

{Image showing teach mode}

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.

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. 

{Image of LSS FlowArm}

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.

{Working envelope}

Features

• 5x fully configurable modular smart servo motors
• Modular aluminum brackets, carbon fiber tubing and more
• V-style gripper opens from 0 to 180 degrees
• Compatible with Lynxmotion Servo Erector Set electronics
• Create sequences using handheld teach mode, coordinates, virtual arm
• Built-in safety features (over current, temperature, voltage) 
• Easy to understand and human readable LSS communication protocol

Specifications

• Axes: 4 degrees of freedom + 1 (gripper)
• Max Horizontal Reach: ___mm
• Max Vertical Reach: ___mm 
• Payload: ___g (max reach)
• Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
• Power Supply Out: 12V, 6A DC with XT60 connector
• Weight: ____ Kg / ____ pounds

Actuators

Dimensions

{Dimensional views: side & top; Metric and imperial units

Include arc, reach, lower limits (below the base) etc.}

Assembly Guide

1. lss-articulated-arm-servo-setup
2. lss-articulated-arm-base
3. lss-articulated-arm-links
4. lss-articulated-arm-gripper
5. lss-articulated-arm-assembly
6. lss-articulated-arm-electronics
7. lss-articulated-arm-wiring
8. lss-articulated-arm-shells

This page is there to help anybody to build an Arm based on the LSS servos.

What's Needed

Smart Servos (LSS)
4x LSS-ST1	1x LSS-HT1
LSS Standard	LSS High-Torque
Electronics
1x LSS-ADA	2x LSS-C-300-S	12x CC-01	1x 12V-XT60	1x USBC-02
LSS Adapter	300mm Cable	Cable Clip	12V w/ XT60	USB to Mini B
Brackets (SES)
3x ASB-28	3x ASB-39	1x ASB-30	2x ASB-35	2x ASB-36	1x ASB-42
LSS Single Wide	Short C V2	LSS Double Wide	Gripper Main	Gripper Secondary	Gripper Foam
SES - Gearing & Horns
1x SG-32T-D	1x SG-32T-I
32T Driving Gear	32T Idler Gear
SES - Tubing & Hubs
4x HUB-22	2x CF-16x14-75
16mm SES Clamp	75mm Carbon Tube
SES - Mechanics
58x PHS-02	18x PHS-16	6x FHS-01	5x BB-05	5x DP-01	1x BB-03
2-56 x 1/4"	M3 x 10mm	Flat M3 x 8mm	Bearing Beeds	Dowel Pin	Bearing 8x3mm
Standoffs
5x AHS-19	4x AHS-20
M3 x 40mm	M3 x 18mm
lss-base-rotate-g10-parts
1x - LSS-BR-T	1x - LSS-BR-M1	1x - LSS-BR-M2	1x - LSS-BR-B
Top Plate	Middle Plate 1	Middle Plate 2	Bottom Plate