|home > ||Bambino < TecArm6v2 > Bambino-A||3 October 2022|
|TecArm6v2 by David Buckley||2012|
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.)
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.
The original TecArm control board (green) accepts, through its D9 connector, RS232 serial data in Scott Edwards' three byte format.
- Byte 1 255 (Synchronization byte)
- Byte 2 Servo # (0-7) (Address jumper out)
- Byte 3 Servo Position (0-254)
- eg the following string will send servo 6 to the mid point of its travel:
- <255> <6> <127>
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