COMMENT ⊗   VALID 00008 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	VICARM,INC.			EXHIBIT OF ASSETS			VICARM,INC.
C00003 00003	VICARM,INC.			EXHIBIT A ASSETS			VICARM,INC.
C00006 00004	VICARM,INC.			EXHIBIT B ASSETS			VICARM,INC.
C00008 00005	VICARM,INC.			EXHIBIT B ASSETS (cont)			VICARM,INC.
C00010 00006	VICARM,INC.			EXHIBIT B ASSETS (cont)			VICARM,INC.
C00012 00007	VICARM,INC.			EXHIBIT C ASSETS 			VICARM,INC.
C00016 00008	VICARM,INC.			EXHIBIT C ASSETS (cont)			VICARM,INC.
C00019 ENDMK
C⊗;
VICARM,INC.			EXHIBIT OF ASSETS			VICARM,INC.















				VICARM, INC.
			   154 EAST DANA STREET
		       MOUNTAIN VIEW, CALIFORNIA 94041





	THIS DOCUMENT OF 7 PAGES LISTS ALL OF THE ASSETS THAT VICARM, INC.
          PROPOSES TO SELL TO UNIMATION, INC. AS PART OF A PURCHASE OF 
			   SELECTED ASSETS AGREEMENT







				JANUARY 8, 1977


























				   PAGE 1
VICARM,INC.			EXHIBIT A ASSETS			VICARM,INC.
	 

1 Drawing set -Controller Schematics (8 drawings)
1 Drawing set -Interface Schematics  (6 drawings)
1 Wire List -Controller Backplane - (22 pages)
1 Wire List -Interface Board-(37 pages)
1 Set Controller Circuit Descriptions (12 pages)
1 Controller Parts List (19 pages)
1 Controller Pin Out List (19 pages)
1 Drawing set+ Arm and Controller Connectors (15 pages)
1 Source Code for Vicarm Software to run on LSI-11
1 Source Code for Interface Test Program
1 Source Code for PDP-11/45 Vicarm Software
1 Drawing Set DaBo Power Supply -(23 pages)
1 Set Stanford Arm Assembly Instructions (48 pages)
1 Set M.I.T. Arm Assembly Instructions (43 pages)
1 Catalog and Data Book Library on shelves and in file cabinets

1 Set of Drawings for Model M.I.T. Arm consisting of:
	Joint 1 - 32 drawings
	Joint 2 - 28 drawings
	Joint 3 - 23 drawings
	Joint 4 - 21 drawings
	Joint 5 - 24 drawings
	Joint 6 - 27 drawings
	Joint 7 - 15 drawings

1 Set of Drawings for Model Stanford Arm consisting of:
	Joint 1 - 9 drawings
	Joint 2 - 8 drawings
	Joint 3 - 30 drawings
	Joint 4 - 17 drawings
	Joint 5 - 9 drawings
	Joint 6 - 12 drawings
	Joint 7 - 18 drawings
	Joint 1and 2 Servo - 19 drawings
	Wiring and Connector - 5 drawings

1 Set Tooling Drawings (15)
1 Set Force Balance Drawings (11)
1 Set Servo/Power Supply and Chassis Drawings (13)
1 Set LSI-11 Chassis Drawings (10)
1 Set Hand Control Unit Drawings (4)
1 Set Misc. Drawings and Notes
















				  PAGE	2
VICARM,INC.			EXHIBIT B ASSETS			VICARM,INC.


1 Complete Model M.I.T. Manipulator System 	Current Selling Price $38,000
consists of:
	1 Model M.I.T. Arm and Hand 
	1 Multimode Servo Controller
	1 Computer-Arm Interface
	1 LSI-11 Computer and 8k memory in Vicarm Unit
	1 Manual Control Unit
	1 Tape of Vicarm Object Code Software
	1 Teletype Model ASR-33(rebuilt) terminal with reader-punch.


Stanford Arm Component Inventory

Joint 1						est value $ 250
	2 Motors U9M4T
	1 Base Plate
	1 Motor Shaft
	3 Couplings
	2 Bearing Retainers
	1 Pot Shaft

Joint 2						est value $  75
	1 Pot
	3 Bearing Retainers
	1 Motor Shaft

Joint 3						est value $ 500
	4 boom tube stock
	1 motor end bell
	1 motor mount bell
	1 encoder mount
	2 pot mounts
	1 pot
	3 motor shafts
	2 stop brackets
	1 cable strain relief
	
Joint 4						est value $  10
	1 brake disk

Joint 5						est value $ 100
	1 motor

Joint 6						est value $ 300
	2 housings
	2 motor mount plates
	1 cover

Joint 7						est value $ 200
	1 hand frame
	2 sets fingers
	5 idler shafts
	1 pot gear





				  PAGE	3
VICARM,INC.			EXHIBIT B ASSETS (cont)			VICARM,INC.


Model M.I.T. Arm Components Inventory

Joints 1,2,3 of one arm (assembled) -		est value $2000
Plus the following components:

Joint 1						est value $ 700
	15 tach mounts
	10 Motor Shaft Adaptors
	5 Stop Cushions
	4 Drive Gears
	1 Idler Gear
	10 Motor End Plate
	11 Motor Sleeves
	20 Drive Gear Blanks

Joint 2						est value $1400
	2 P.C. Connector Assy.
	1 Motor Mount Plate
	3 Idler Gears
	3 Idler Pinions
	3 Brake Gears
	1 Brake Armature
	5 Brake Shafts
	14 motor shaft adapters
	10 bearing housings
	7 heads
	
Joint 3						est value $ 900
	10 Motor Shaft Adapters
	11 Motor End Plates
	4 Main Shafts
	10 Drive Gears
	10 Motor Sleeves
	12 sets of sheet metal links

Joint 4						est value $ 600
	9 drive gears
	12 idler gears
	1 idler shaft
	1 gear box set
	
Joint 5						est value $1000
	1 motor
	1 compact wrist unit
 
Joint 6						est value $ 200
	2 drive gears
	1 idler gear
	2 bearings
	3 motor pinions
	15 limit stops

Joint 7						est value $ 150
	12 yokes
	2 motor shafts
	1 main frame
	2 connector boards

				  PAGE	4
VICARM,INC.			EXHIBIT B ASSETS (cont)			VICARM,INC.


Miscellaneous Inventory Items: 		     est.value

Manual Controller Parts -			$ 150
2 DaBo Arm Controllers -			$1600
1 Assorted Stainless Screws-			$ 100
1 Assorted Ball Bearings 			$ 100
1 Assorted Teflon Wire -			$ 100


Components Used for Custom Orders and R&D Purposes

Assorted Potentiometers -			$ 100
Assorted Brakes -				$ 300
Encoder Interface Board -			$ 500
Assorted Tachometers -				$ 500
Optical Encoder -				$ 200
Assorted Connectors -				$ 200
Assorted Transformers -				$ 100
Assorted Capacitors -				$ 100
Assorted Motors and Assemblies- 		$1000
Electronic Cabinets -				$ 200
3 DEC Wire Wrap Boards -			$ 200
1 DR11-C Board -				$ 450
Assorted Spare P.C. Boards -			$ 100
Assorted Stuffed P.C. Boards -			$1000
Assorted Semiconductors -			$ 100
Assorted  Cooling Fans -			$  50
Assorted Resistors and Pots -			$ 100
Assorted Vicarm Publicity Lit.- 		$ 100
Assorted Electronic Gadgets -			$ 100




























				  PAGE	5
VICARM,INC.			EXHIBIT C ASSETS 			VICARM,INC.

					     est. value

Clausing Milling Machine, Serial No. 8520-	$1200
Clausing Lathe, #5439 -				$1200
Logan Lathe, #820 -				$ 800
Craftsman Drill Press -				$ 150
Craftsman Band Saw -				$ 150
Craftsman Bench Grinder -			$  50
Craftsman Disk-Belt Sander -			$ 100
Craftsman Cutoff Saw -				$ 100
Craftwman Air Compressor -			$ 150
Shopmaster Abrasive Wheel -			$ 100
Assorted Mill Collets and Tools -		$  25
Assorted Lathe Collets (5C) -			$ 100
Assorted Lathe Collets (3C) -			$  25
Several Drill Sets -				$  50
Angle Lock Mill Vise -				$ 150
2 Aloris Tool Posts -				$ 100
Assorted Aloris Tool Holders -			$  50
6 Jaw Lathe Chuck -				$  50
4 Jaw Lathe Chuck -				$  50
3 Jaw Lathe Chuck -				$  30
2 Collet Closers -				$ 100
2 Trav-A-Dials for Mill -			$ 250
Palmgren Dividing/Rotary Table -		$ 100
Spindex Divider -				$  75
Hardinge Indexer -				$ 200
Tapmatic 50XB -					$  50
Criterium Boring Head -				$  75
Micrometer Set 0-6 inches -			$ 100
Mitutoyo 6" Dial Calipers -			$  30
Assorted Taps -					$  75
Assorted Dies -					$  50
Carbide Boring Bar Set -			$  30
Assorted Carbide Bits -				$  25
Assorted High Speed Steel Bits -		$  20
Hold Down Set for Mill -			$  25
3 sets Dial Indicators -			$  50
5 Reborable Collets -				$  40
Square Collet Block -				$  25
Assorted End Mills -				$  75
2 Hammers -					$  10
Assorted Wrenches -				$  25
Tool Box -					$  10
Cool Mist Equipment -				$  35
Air Guns and Hoses -				$  35
Assorted Clamps -				$  35
Arbor Press -					$  75
Granite Surface Plate -				$  40
Hand Tapping Unit -				$  35
Mitutoyo Height Gage -				$  40
Assorted Angle Blocks -				$  30
2 V-Blocks -					$  30
Mahr Comparator (.0002) -			$ 250
4 sets precision diameter pins -		$ 100
2 sets gage pins 1/16-1/2 -			$ 100
Assorted large drill bits -			$  40


				  PAGE	6
VICARM,INC.			EXHIBIT C ASSETS (cont)			VICARM,INC.
						
					      est. value

Depth Gage -					$  20
Diameter Micrometer -				$  25
0-1" indicators -				$  40
2 Lathe Face Plates -				$  25
Work Bench -					$  40
Machinists Vise (4 inch) -			$  40
Shop Tables -					$  50
Storage Shelves -				$  50
Rubber Floor Mats -				$  40
Shop Vacuum -					$  50
Tumbler Machine and Stones -			$  70
4 Drill Chucks -				$ 100
3 Lathe Centers -				$  40
DiAcro Bender -					$ 200
Lubricants, glues, liquids -			$  30
Sears Adding Machine -				$  50
Assorted Motor Test Fixtures -			$  50
2 Chatillion Precision Scales -			$  50
Cardboard Storage Boxes -			$  20
Assorted Arm Assembly Tooling -			$1000
Servo P.C. Board Artwork -			$ 400
Brake Logic P.C. Board Artwork -		$ 200
Other Controller P.C. Board Artwork -		$ 200
Oak Executive Desk -				$ 100
Oak table with drawing file -			$ 100
Steel Secretary Desk -				$ 100
A.B. Dick Copier -				$ 500
2 2-drawer filing cabinets -			$  50
3 office chairs -				$ 150
Several Cabinets and Book Cases -		$ 100
1 Drawing Table -				$  50
Assorted Flourescent Light Fixtures -		$ 300
6 assembly benches -				$ 600
3 Cabinets with doors -				$ 150
1 Toilet, sink and plumbing -			$ 100
Assorted Integrated Circuits and Cabinets -	$ 100
Tektronix Oscilloscope, Model 585		$ 700
Heathkit Regulated Power Supply -		$ 100
Assorted Power Supplies -			$ 200
Wire Wrap Gun and Bits -			$ 100
Digital Volt Meter -				$ 300
2 VOMs and Heat Gun -				$ 100
8 Chairs -					$ 100
Regulated Soldering Iron and Oven -		$ 100
Assorted Offiece Supplies -			$ 100
Assorted Hand Tools -				$ 500
Facility Improvements (walls,tile, rugs,etc) - 	$2000










				  PAGE 7