|home > ||TecArm0 < TecArm5 > TecArm6||26 May 2021|
|TecArm5 prototype by David Buckley||1999|
When designing the arm I envisaged a small video camera mounted on the top plate of the Gripper, just in front of the servo.
In 2020 I added an Arduino Nano to receive high level commands and to store sequences of commands.
The commands can be received over USB but because when the arm moves the cable could be pulled and damage the socket I added a standard RS232 D9.
Unfortunately over the years some of the wood has developed a slight warp.
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 JP SuperTec S04 10Kg.cm @4.8v, 13Kg.cm @6v Shoulder JP SuperTec S666/STD 18Kg.cm @4.8v, 22Kg.cm @6v Elbow JP SuperTec S04 10Kg.cm @4.8v, 13Kg.cm @6v Wrist JP SuperTec S06/2BB 7.2Kg.cm @4.8v, 8Kg.cm @6v Gripper JP SuperTec S03 3.4Kg.cm @4.8v, 4Kg,cm @6v
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