Wiki source code of LSS - Articulated Arm

Version 60.1 by Eric Nantel on 2019/09/11 08:05
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Eric Nantel 46.1 1 [[image:SESV2-LSS-ARTICULATED-ARM.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 36.2 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 35.1 12
Eric Nantel 50.1 13 (% style="width:700px" %)
Eric Nantel 52.1 14 |(% style="width:350px" %)**Without Shells**|(% style="width:350px" %)**With Shells**
Eric Nantel 59.1 15 |(% colspan="2" style="width:350px" %){{lightbox image="SESV2-LSS-ARTICULATED-ARM-FaceToFace.png"/}}
Eric Nantel 36.2 16
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
19 {Image showing teach mode}
20
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
Eric Nantel 56.1 23 (% style="width:350px" %)
24 |(% style="width:350px" %){{lightbox image="SESV2-LSS-ARTICULATED-ARM-A4WD.png"/}}
Eric Nantel 36.2 25
26 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.
27
28 {Image of LSS FlowArm}
29
30 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.
31
Eric Nantel 46.2 32 {Working envelope}
33
Eric Nantel 3.1 34 = Features =
35
Eric Nantel 36.2 36 * 5x fully configurable modular smart servo motors
37 * Modular aluminum brackets, carbon fiber tubing and more
38 * V-style gripper opens from 0 to 180 degrees
39 * Compatible with Lynxmotion Servo Erector Set electronics
40 * Create sequences using handheld teach mode, coordinates, virtual arm
41 * Built-in safety features (over current, temperature, voltage)
42 * Easy to understand and human readable LSS communication protocol
43
Eric Nantel 3.1 44 = Specifications =
45
Eric Nantel 36.2 46 * Axes: 4 degrees of freedom + 1 (gripper)
47 * Max Horizontal Reach: ~_~__mm
48 * Max Vertical Reach: ~_~__mm
49 * Payload: ~_~__g (max reach)
50 * Power Supply In: 110V to 240V AC 50/60Hz AC (US type A plug)
51 * Power Supply Out: 12V, 6A DC with XT60 connector
52 * Weight: ~_~_~_~_ Kg / ~_~_~_~_ pounds
Eric Nantel 34.1 53
Eric Nantel 36.2 54 == Actuators ==
55
56 (% style="width:350px" %)
57 |**Location**|**Type**|**Static Torque**|**Max Speed**
58 |Base|ST1|14Kg-cm|360° /s
59 |Shoulder|HT1|29Kg-cm|360° /s
60 |Elbow|ST1|14Kg-cm|360° /s
61 |Wrist|ST1|14Kg-cm|360° /s
62 |Gripper|ST1|14Kg-cm|360° /
Eric Nantel 38.1 63 |(% colspan="4" %)(((
Eric Nantel 36.2 64 **Note that when operated at lower voltages, the torque and speed are reduced.**
Eric Nantel 38.1 65 )))
Eric Nantel 36.2 66
Eric Nantel 38.1 67 Dimensions
Eric Nantel 3.1 68
Eric Nantel 37.1 69 {Dimensional views: side & top; Metric and imperial units
Eric Nantel 35.1 70
Eric Nantel 37.1 71 Include arc, reach, lower limits (below the base) etc.}
72
Eric Nantel 3.1 73 = Assembly Guide =
74
Eric Nantel 32.1 75 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 76 1. [[doc:.lss-articulated-arm-base.WebHome]]
77 1. [[doc:.lss-articulated-arm-links.WebHome]]
78 1. [[doc:.lss-articulated-arm-gripper.WebHome]]
Eric Nantel 8.1 79 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 80 1. [[doc:.lss-articulated-arm-electronics.WebHome]]
Eric Nantel 12.1 81 1. [[doc:.lss-articulated-arm-wiring.WebHome]]
Eric Nantel 17.1 82 1. [[doc:.lss-articulated-arm-shells.WebHome]]
Eric Nantel 11.2 83
Eric Nantel 28.1 84 (% class="wikigeneratedid" %)
85 This page is there to help anybody to build an Arm based on the LSS servos.
86
Eric Nantel 29.1 87 = What's Needed =
Eric Nantel 28.1 88
Eric Nantel 11.2 89 (% style="max-width:750px" %)
Eric Nantel 21.3 90 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**
91 |4x LSS-ST1|1x LSS-HT1| | | |
92 |LSS Standard|LSS High-Torque| | | |
Eric Nantel 33.1 93 |[[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 94 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.WebHome]]**
Eric Nantel 23.1 95 |1x LSS-ADA|2x LSS-C-300-S|12x CC-01|1x 12V-XT60|1x USBC-02|
96 |LSS Adapter|300mm Cable|Cable Clip|12V w/ XT60|USB to Mini B|
Eric Nantel 24.1 97 |[[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 98 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome]]**
99 |3x ASB-28|3x ASB-39|1x ASB-30|2x ASB-35|2x ASB-36|1x ASB-42
100 |LSS Single Wide|Short C V2|LSS Double Wide|Gripper Main|Gripper Secondary|Gripper Foam
101 |[[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 20.2 102 |(% colspan="6" %)**[[SES - Gearing & Horns>>doc:servo-erector-set-system.ses-mechanics.ses-gearing-horns.WebHome]]**
103 |1x SG-32T-D|1x SG-32T-I| | | |
Eric Nantel 20.3 104 |32T Driving Gear|32T Idler Gear| | | |
105 |[[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 20.2 106 |(% colspan="6" %)**[[SES - Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**
107 |4x HUB-22|2x CF-16x14-75| | | |
Eric Nantel 20.4 108 |16mm SES Clamp|75mm Carbon Tube| | | |
109 |[[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 11.2 110 |(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
Eric Nantel 18.1 111 |58x PHS-02|18x PHS-16|6x FHS-01|5x BB-05|5x DP-01|1x BB-03
112 |2-56 x 1/4"|M3 x 10mm|Flat M3 x 8mm|Bearing Beeds|Dowel Pin|Bearing 8x3mm
113 |[[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 22.3 114 |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]**
115 |5x AHS-19|4x AHS-20| | | |
116 |M3 x 40mm|M3 x 18mm| | | |
117 |[[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 18.2 118 |(% 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 11.2 119 |(% 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 17.2 120 |(% 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 11.2 121 |[[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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