|home > ||TecArm5 < TecArm6 > TecFoot||7 June 2021|
|TecArm6 by David Buckley||1999|
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