1. Lynxmotion Robotic Arm
Manufacturing Costs
CIM
Cost of Manufacturing
Lynxmotion Robotic Arm
Project Lead The Way, Inc.
Copyright 2008

2. Manufacturing Costs
CIM
Cost of Manufacturing
Introduction
The AL5 series robotic arm is a four or five axis jointed arm-type robot driven by four to five servo motors. It uses a serial servo controller to control all motion.
In Lesson 3.1 you learned about the different types of robots, their work envelopes, and their applications.
Project Lead The Way, Inc.
Copyright 2008

3. Joints Elbow Wrist Wrist Rotate Shoulder Base

4. Manufacturing Costs
CIM
Cost of Manufacturing
End Effector
Some other common types of end effectors are welders for cutting and joining operations, vacuum grippers for accurate pick and place operations, and sprayers for applications of sealers and paints.
The end effector is a device or tool connected to the end of a robot arm. The Lynxmotion possesses a gripper.
Project Lead The Way, Inc.
Copyright 2008

5. Work Envelope
The work envelope is spherical, just like the Scorbot and all other jointed arm type robots.

6. Servos
The servos are electromechanical devices that use feedback to provide precise movement of the robot’s joints.

7. Servos: Wiring
The red and black wires provide power. The yellow wire sends a pulse from the controller to indicate which direction to turn and how far to go.

8. Manufacturing Costs
CIM
Cost of Manufacturing
Servos: Operation
The SSC-32 sends a pulse to the servo motor on the yellow wire. A pulse of 1.5msec moves the servo to its center position.
A pulse of 1msec moves the servo 360° counterclockwise, and a 2 msec pulse moves the servo 360° clockwise.
These values are approximate.
Project Lead The Way, Inc.
Copyright 2008

9. Servos: Operation The SSC-32 controller moves the servos.
The ArmControl software is the interface that makes complex moves easier to perform.

10. SSC-32 Interface
The SSC-32 is a serial servo controller that provides the interface between the robot and the computer. It can be used to control up to 32 servos.

11. Outputs: Servos
Pins 0-7 are reserved for the robot’s servos.

12. Outputs
Pins 8-15 are reserved for outputs and can be used to send information to other equipment.

13. Inputs
Pins A-D are reserved for inputs and can be used to monitor switches and sensors.

14. Manufacturing Costs
CIM
Cost of Manufacturing
Servo Connections
Always check polarity when connections are made to the SSC-32 and never make connections while powered on.
Black servo wire goes to Ground
Red servo wire goes to VS1 pin
Yellow servo wire goes to PULSE pin
Unplug the unit from the wall and disconnect 9V battery before making any connections.
Project Lead The Way, Inc.
Copyright 2008

15. Startup Procedure Plug USB Converter into computer’s USB port.
Manufacturing Costs
CIM
Cost of Manufacturing
Startup Procedure
Plug USB Converter into computer’s USB port.
Reboot your computer.
Turn on the switch to the SSC-32.
Open ArmControl.
Once connection is established, turn on servos.
Rebooting the computer while the USB converter is plugged in assures that there will be a connection available to the Flowbotics Studio software.
The switch to the SSC-32 can be found by tracing the wires back from the to switches: the one with the smaller wires that goes to the 9V battery is the one to the SSC-32, the other switch controls the servos.
You MUST use a 9V battery.
Project Lead The Way, Inc.
Copyright 2008

16. Shutdown Procedure Turn off Power to the servos
Manufacturing Costs
CIM
Cost of Manufacturing
Shutdown Procedure
Turn off Power to the servos
Turn off power to the SSC-32
Close ArmControl
Unplug USB converter from computer
Failure to follow this procedure, can cause the computer to crash.
Project Lead The Way, Inc.
Copyright 2008