• # Gallery

I siffened the limbs and added sliding feet for the waist movement to ease the strain on the servo-horn a made the gripper gear driven to balance the finger movement. The shop never materialised so the TecArm6v2 was put back on the shelf.

In 2020 during Covid lock-down I was talking to a friend who had purchased a hobby robot-arm from China and decided to look at my TecArm6v2 again. The original GUI written by Milford no longer worked in Windows-10 so I added an Aduino nano to accept high level commands from a serial-terminal and send the necessary codes to the existing servo controller on the arm. (I did the same for the TecArm5 prototype.)

• TecArm commands
  The commands allow the arm to be positioned in a Pose and the servo values recorded as one of eight Poses.
  A sequence of Poses can be assembled into one of sixteen Acts which can then be replayed.
• TecArm6Control.zip - the Arduino control program for both the TecArm5 and TecArm6.
• TA_Manual-5_507inst.pdf the Milfords manual for the TecArms.
• The original TecArm page for the Milford arm.

Dimensions

  Upper Arm    - Shoulder to elbow   =  90 mm
  Fore Arm     - elbow to wrist      = 125 mm
  Hand         - Wrist to fingertips = 100 mm
  Gripper      - opening             =  85 mm

  At 125mm extension          - lift = ~450 g
  At maximum extension ~315mm - lift = ~200 g

Servos

  Waist       HiTEC  HS-755HB       4.8/6v  0.28sec,0.23sec   8.8kg.cm(122.2oz.in), 10.5kg.cm(145.81oz.in)
  Shoulder    HiTEC  HS-805BB       4.8/6v  0.19sec,0.14sec  19.8kg.cm(275.09oz.in),24.7kg.cm(343.36oz.in)
  Elbow       HiTEC  HS-755HB       4.8/6v  0.28sec,0.23sec   8.8kg.cm(122.2oz.in), 10.5kg.cm(145.81oz.in)
  Wrist pitch JP SuperTec  S06/2BB  7.2Kg.cm @4.8v, 8Kg.cm @6v
  Wrist turn  JP SuperTec  S03      3.4Kg.cm @4.8v, 4Kg,cm @6v
  Gripper     JP SuperTec  S03      3.4Kg.cm @4.8v, 4Kg,cm @6v