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.

• 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 - 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.
• Circuit diagram.

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