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		Purchased Parts list for Stanford Arm

Joint #1

U9M4 Motor- Photocircuits Corp.  Glen Cove, N.Y. - Local Rep. is
	RDX, Sunnyvale, Ca.  Attn . Ed Ross.
FS11-00-04-5-014 Brake.  General Time, Torrington Conn.  Local Rep. is 
	Marwood, Ltd. Santa Clara, Ca.
HDC-5C-100-2-BL  (2 tooth difference model) Harmonic Drive-USM Corp.,Wakefield,Mass.  Local Rep.
030/105 Tachometer- Micro Mo Electronics, Cleveland, Ohio.
KA 040 XP3 Bearing-Prec. 3-  Kaydon Bearing- Muskegon, Mich.  Local Rep.
	Bearing Eng. Co.  San Francisco, Ca.
KB 040 XP3 Prec. 3.  Bearing-  Kaydon.
Potentiometer Element Material- order from New England Instrument Co.
	Natick, Mass.  Local Rep.  O'Donnell Assoc. Palo Alto, Ca.
	(One sheet 3" x 18" of 100 ohms per square Resistofilm material 
	will make all the pot elements.)


Joint #2

U12M4 Motor- Photocircuits Corp.
FS11-00-04-5-014 Brake-  General Time.
HDC-5C-100-2-BL- (2 tooth difference model) Harmonic Drive,   USM Corp.
030/105 Tachometer- Micro Mo Electronics
KA 040 XP3 Prec. 3 Bearings  2 Required-  Kaydon.


Joint #3

402-14 (20 vdc winding) Motor , Magnedyne Inc.  Carlsbad, Ca. 
FS17-00-06-5-014 Brake  - General Time Co.
8103-R5K-L.10-LT-RS Potentiometer- Beckman Helipot.  Palo Alto, Ca.
477501 Bearing,  New Departure
MFS3KDD Bearing- Fafnir
2112N913 N- Tachometer- HICO. , Menlo Park, Ca.
G176 Spur Gear- Boston Gear.
G583-4 Rack-  Boston Gear.
34KDD Bearing- 16 reqd. -Fafnir.


Joint #4

1937D-100-12v. Motor- Magnetic Technology, Canoga Park, Ca.  Local Rep. 
	Servo Data, Los Altos , Ca.  Attn. Bill Selback
HDC-1C-72-2 Harmonic Drive.  USM Corp.
2112N913 N - Tachometer-  HICO
FG2-1078-902 Brake Armature-  General Time
3TKR-10-14U Bearing- Split Ball Bearing Div., MPB Bearing Corp. Lebanon, N. H. 
 	Local Rep. King Bearing,  Mountain View, Ca.
B544DD Bearing- Fafnir
B542DD Bearing- Fafnir
P120A5-150 Gear- Winfred M. Berg Inc.  499 Ocean Av.  East Rockaway, N.Y.
P120A7-52 Gear- Winfred M. Berg.


Joint #5

1937D-100-12v Motor- Magnetic Technology
2112N913 N Tachometer- HICO
FS08-00-04-5-014 Brake- General Time
HDC-1C-72-2 Harmonic Drive-  USM Corp.
KAA10XL0 Bearing- Kaydon
MFS3KDD Bearing- Fafnir 
MFS1KDD7 Bearing-  Fafnir
B541DD Bearing- Fafnir


Joint #6

NT-0741-C Motor- Inland Motor Corp.  Radford, Va.
050/53 (specify with standard pinion gear) Tachometer ,Micro-Mo.
FS08-00-02-5-014 Brake - General Time
B538DD Bearing- Fafnir
B539DD Bearing - Fafnir
AVF8K20 Bearing 3 reqd.  Fafnir
AVF8K16 Bearing 1 reqd.-Fafnir
P64A21-100 Gear- Winfred M. Berg.
YWS6412 Pinion Wire- Boston Gear (1 foot req'd)
P120A5-126 Gear- Berg
PS120S2-12 Gear- Berg



Hand

NT-0741-C Motor-  Inland Motor Corp.
FS08-00-02-5-014 Brake- General Time
78CSB502 Potentiometer- New England Instruments
P120A10-130 Gear- Winfred M. Berg
P120S9-32   Gear- Berg
P96A5-90    Gear- Berg
PS96S4-16 s.s. pinion shaft- Berg (96dp, 16teeth) 
R2-14 Rack-Berg, 1 piece reqd., 64 dp, 11 inches long.
S1-10 precision rod- Berg (.1562 dia., 24 inches long, 303 stainless steel rod)
YWS6410 Pinion Wire- 6 inches-  Boston Gear (64dp, 10 teeth)
B25-4 Oilite bushing- Boston- 1 piece reqd.
S6316FCHH Bearing- MPB Corp.- 1 reqd.
S418FC- Bearing- MPB Corp. - 1 reqd.

Electrical Components Required

Tape Cable- Burndy or Hughes
Main Connector -Amphenol 57-40500 and 57-30500 -one each
Tape Cable Connectors- Cinch- 50-30-C10 - Four req'd.
#4 brake-  #40 gauge nyclad wire- 1/4 lb. spool is enough.
Hand connector- Augat 14 pin 3m cable connector and low profile dip socket
	to match- one each req'd.
3M Flex Cable
Shielded Cable-  Micro Cable Corp.
Desirable improvements to make

#5 joint

Clearance for H.D. axial and radial
Thinner walls- take off .020 on o.d.
Mount motor and H.D. on same plate
Remove brg. recesses on one or maybe both sides.(done on one side 4/25/74