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home  >  TecArm5 < TecArm6 > TecFoot 7 June 2021

TecArm6 by David Buckley 1999
Designed to be produced as a kit by Milford Instruments the TecArm6 has six servos and an onboard Servo Controller which receives commands over an RS232 link from any computer.
The Waist, Shoulder and Elbow servos were upgraded to HiTEC ones which made the performance much smoother since the HiTEC ones are very free running and easily backdrivable - which does mean that with no power the arm will collapse.

The top of the Wrist was made flat to take a small video camera as an alternative position to being mounted on the Gripper,

I don't have photos of my protoype because it was upgraded to the TecArm6-v2.

Milford produced a GUI for the arm but it doesn't run on modern computers.

The arm on the right has the optional longer fingers to enable it to grasp a tennis ball.

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