TOMT: A robot arm from the british 1980s? Had bevel gears in the wrist and all metal body.

It’s on the Tip Of My Tongue…

Last I saw it a few years ago online, the plans and the assembly documents were still available. I’m trying to get a look at their differential wrist drive to get some ideas for my next design.

Edit: IIRC it was 4 axis.

Hints? Guesses? Post links below, please.