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␈↓↓␈↓α␈↓β␈↓∧␈↓α␈↓ ¬7VICARM␈↓ ↓H
␈↓β␈↓ ¬=154 EAST DANA STREET␈↓ ↓H
␈↓ ¬)MOUNTAIN VIEW, CA. 94041␈↓ ↓H
␈↓∧␈↓ 
+   Telephone:␈↓ ↓H
␈↓ 
+415-965-0557␈↓ ↓H
␈↓ ↓H
␈↓↓␈↓ ∧FMANIPULATOR COMPONENT DETAILS␈↓ ↓H
␈↓ ↓H
STANFORD ARM␈↓ ↓H
␈↓ α An␈αelectric␈αmanipulator␈αwith␈α6␈αdegrees␈αof␈αfreedom␈αplus␈αa␈αtwo␈αfingered␈αhand.␈αPotentiometer,␈↓ ↓H
␈↓ ↓Hencoder␈α⊗or␈α⊗resolver␈α⊗position␈α⊗sensors␈α⊗and␈α⊗tachometers␈α⊗on␈α⊗all␈α∃axes.␈α∃D.C.␈α∃motor␈α∃drive,␈α∃with␈↓ ↓H
␈↓ ↓Helectromagnetic␈α
brakes␈α
on␈α
all␈α
joints.␈α
Completely␈α
wired␈αwith␈αtwo␈αmultiple␈αcontact␈αconnectors.␈αThis␈↓ ↓H
␈↓ ↓Harm␈αhas␈αa␈α4.5␈αkg.␈αdirect␈αlift␈αcapability.␈↓ ↓H
␈↓ ↓H
M.I.T. ARM␈↓ ↓H
␈↓ α A␈αsmall␈α6␈αdegree␈αof␈αfreedom␈αelectric␈αarm␈αfeaturing␈αsix␈αrevolute␈αjoints,␈αd.c.␈αmotor␈αdrives␈αand␈↓ ↓H
␈↓ ↓Hpotentiometer␈α⊃feedback␈α⊃on␈α⊃all␈α⊃joints␈α⊃including␈α⊃the␈α⊂hand.␈α⊂Tachometer␈α⊂feedback␈α⊂is␈α⊂provided␈α⊂on␈α⊂5␈↓ ↓H
␈↓ ↓Hjoints.␈αThis␈αarm␈αhas␈αa␈α1.4␈αkg.␈αlift␈αcapability.␈↓ ↓H
␈↓ ↓H
POWER AMPLIFIERS AND MANUAL CONTROL␈↓ ↓H
␈↓ α Bipolar␈α
35␈α
vdc.␈α
supply,␈α
power␈α
amplifiers␈α
for␈αall␈αjoints␈αand␈αhand,␈αremote␈αenable␈αlogic,␈αcurrent␈↓ ↓H
␈↓ ↓Hlimit␈α⊃and␈α⊃motor␈α⊃temperature␈α⊃sense␈α⊃electronics.␈α⊃Brake␈α⊃drivers,␈α⊂and␈α⊂function␈α⊂select␈α⊂logic.␈α⊂Manual␈↓ ↓H
␈↓ ↓Hcontrol␈α∞unit␈α∞with␈α∞computer-manual␈α
mode␈α
select␈α
switch,␈α
emergency␈α
stop␈α
button,␈α
and␈α
brake␈α
control␈↓ ↓H
␈↓ ↓Hswitches.␈αAllows␈αremote␈αmanual␈αpositioning␈αof␈αarm␈αwithout␈αuse␈αof␈αcomputer.␈↓ ↓H
␈↓ ↓H
MULTIMODE SERVOS␈↓ ↓H
␈↓ α Hardware␈α
servo␈α
electronics␈α
for␈α
all␈α
joints␈α
and␈α
hand.␈α
Computer␈α
selected␈α
position,␈α
velocity␈α
or␈↓ ↓H
␈↓ ↓Htorque␈α⊃(current)␈α⊃servo␈α⊃modes␈α⊃on␈α⊃a␈α⊃joint␈α⊃by␈α⊃joint␈α⊂basis.␈α⊂Position␈α⊂sensor␈α⊂and␈α⊂tachometer␈α⊂buffer␈↓ ↓H
␈↓ ↓Hamplifiers.␈α∞Servo␈α
accuracy␈α
indicator␈α
bits.␈α
Electrical␈α
limit␈α
stops␈α
for␈α
all␈α
joints.␈α
Servo␈α
cards␈α
plug␈α
into␈↓ ↓H
␈↓ ↓Hpower␈αamplifier␈αunit.␈↓ ↓H
␈↓ ↓H
COMPUTER INTERFACE␈↓ ↓H
␈↓ α Complete␈α∩interface␈α∩to␈α∩PDP-11,␈α∩Nova,␈α∩or␈α∩Interdata␈α∩computers.␈α∩Includes␈α∩power␈α⊃supply,␈α⊃all␈↓ ↓H
␈↓ ↓Hcables,␈α
and␈α
interface␈α
card␈α
for␈αselected␈αcomputer.␈αInterface␈αfeatures␈α12␈αbit␈αA/D␈αfor␈α32␈αchannels␈αof␈↓ ↓H
␈↓ ↓Hanalog␈αsignal␈αinput␈α(one␈αarm␈αplus␈αmany␈αspares),␈αeight␈α12␈αbit␈αDAC␈αchannels␈αfor␈αarm␈αplus␈αone␈αor␈αmore␈↓ ↓H
␈↓ ↓Haccessory␈α∂devices.␈α∂Output␈α∂of␈α∂brake␈α∂bits,␈α∞spare␈α∞command␈α∞bits,␈α∞servo␈α∞mode␈α∞select␈α∞bits,␈α∞and␈α∞enable␈↓ ↓H
␈↓ ↓Hbits␈α
is␈α
included.␈α
Provision␈α
for␈α
reading␈α
joint␈αtolerance␈αbits,␈αtouch␈αsensor␈αbits,␈αand␈αaccessory␈αdevice␈↓ ↓H
␈↓ ↓Hbits.␈α
Also␈α
provided␈α
is␈α
emergency␈α
stop␈α
logic,␈α
and␈α
provision␈α
for␈α
orderly␈α
shutdown␈αof␈αarm␈αin␈αcase␈αof␈↓ ↓H
␈↓ ↓Hcomputer␈αfailure.␈↓ ↓H
␈↓ ↓H
SOFTWARE␈↓ ↓H
␈↓ α Our␈α∩software␈α∩package␈α∩is␈α⊃continuously␈α⊃being␈α⊃expanded.␈α⊃We␈α⊃currently␈α⊃offer␈α⊃a␈α⊃special␈α⊃arm␈↓ ↓H
␈↓ ↓Hprogram␈α⊂editor␈α⊂for␈α∂quickly␈α∂writing␈α∂programs␈α∂in␈α∂our␈α∂easy␈α∂to␈α∂use␈α∂VAL␈α∂language.␈α∂Vicarm␈α∂software␈↓ ↓H
␈↓ ↓Hincludes␈α⊂routines␈α⊂for␈α⊂point␈α⊂to␈α⊂point␈α⊂trajectories,␈α⊂straight␈α⊂line␈α⊂motion␈α⊂in␈α⊂any␈α⊂direction,␈α∂pick␈α∂and␈↓ ↓H
␈↓ ↓Hplace␈α↔motions,␈α↔and␈α⊗controlled␈α⊗grasp␈α⊗motions.␈α⊗Precision␈α⊗points␈α⊗can␈α⊗be␈α⊗entered␈α⊗by␈α⊗typing␈α⊗in␈↓ ↓H
␈↓ ↓Hcoordinates␈α(an␈αarm␈αsolution␈αroutine␈αis␈αincluded␈αin␈αthe␈αsoftware),␈αor␈αby␈αplacing␈αthe␈αarm␈αat␈αa␈αdesired␈↓ ↓H
␈↓ ↓Hpoint␈α(Unimate␈αmode).␈αTransforms␈αare␈αlabeled␈αand␈αcan␈αbe␈αcalled␈αat␈αrandom␈αby␈αthe␈αprogram.␈αLooping␈↓ ↓H
␈↓ ↓Hand␈αbranching␈αfeatures␈αare␈αincluded.␈↓ ↓H
␈↓ ↓H
␈↓α␈↓ ¬7VICARM␈↓ ↓H
␈↓ ↓H
␈↓↓␈↓ ∧FMANIPULATOR COMPONENT DETAILS␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
COMPUTER␈↓ ↓H
␈↓ α The␈αDigital␈αEquipment␈αCorporation␈αLSI-11␈αcomputer␈αis␈αused␈αin␈αour␈αcomplete␈αsystem.␈αThis␈α16␈↓ ↓H
␈↓ ↓Hbit␈α
processor␈α
with␈α
floating␈α
point␈α
processing␈α
capability␈α
has␈α
12k␈αwords␈αof␈αMOS␈αmemory␈αand␈αa␈αserial␈↓ ↓H
␈↓ ↓Hdata␈α
interface␈α
to␈α
a␈αteletype␈αterminal␈α(supplied).␈αThe␈αprocessor,␈αmemory␈αand␈αinterfaces␈αare␈αsupplied␈↓ ↓H
␈↓ ↓Hwith␈α∞their␈α∞own␈α∞power␈α∞supply␈α∞and␈α∞operating␈α∞panel.␈α∞The␈α∞computer␈α∞is␈α∞a␈α∞general␈α∞purpose␈α∞device,␈α∞and␈↓ ↓H
␈↓ ↓Hmay␈αalso␈αbe␈αused␈αto␈αrun␈αother␈αprograms␈αor␈αoperate␈αdevices␈αother␈αthan␈αthe␈αarm.␈↓ ↓H
␈↓ ↓H
COMPLETE SYSTEM␈↓ ↓H
␈↓ α The␈α∂complete␈α∂system␈α∂includes␈α∂everything␈α∂mentioned␈α∂above␈α∂packaged␈α∂into␈α∂three␈α∂units-␈α∞the␈↓ ↓H
␈↓ ↓Harm␈α∩and␈α∩hand,␈α∩the␈α∩power␈α∩supply␈α∩and␈α∩servo␈α∩unit,␈α⊃and␈α⊃the␈α⊃computer␈α⊃and␈α⊃interface␈α⊃unit.␈α⊃All␈α⊃are␈↓ ↓H
␈↓ ↓Hconnected␈α
by␈α
plug-in␈α
cables.␈α
Power␈α
required␈αis␈α120/240␈αVAC.␈αEach␈αunit␈αis␈αlight␈αenough␈αto␈αbe␈αhand␈↓ ↓H
␈↓ ↓Hcarried␈αby␈αone␈αperson.␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ε↔OPTIONS␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
WRIST FORCE SENSOR␈↓ ↓H
␈↓ α This␈αis␈αa␈α6-component␈αwrist␈αmounted␈αforce␈αbalance.␈αIt␈αuses␈αsemiconductor␈αstrain␈αgauges,␈αand␈↓ ↓H
␈↓ ↓Hhas␈αinternal␈αelectronics.␈αIt␈αinterfaces␈αthrough␈αthe␈αcomputer␈αinterface,␈αor␈αcan␈αbe␈αused␈αseparately.␈αA␈↓ ↓H
␈↓ ↓Hcalibration␈α⊃matrix␈α⊃is␈α⊃provided.␈α⊃Overload␈α⊃protection␈α⊃for␈α⊃all␈α⊃components␈α⊃of␈α⊃force␈α⊃and␈α⊂moment␈α⊂is␈↓ ↓H
␈↓ ↓Hincluded.␈α∂Force␈α∂resolution␈α∂is␈α∂5␈α∂grams␈α∂with␈α∂a␈α∂range␈α∂of␈α∂+-␈α∂4.5␈α∂kg.␈α∞Moment␈α∞resolution␈α∞is␈α∞15␈α∞gm-cm␈↓ ↓H
␈↓ ↓Hwith␈αa␈αrange␈αof␈α+-␈α12␈αkg-cm.␈αThis␈αdevice␈αis␈αcurrently␈αoffered␈αonly␈αfor␈αthe␈αStanford␈αArm.␈↓ ↓H
␈↓ ↓H
FORCE SENSING FINGERS␈↓ ↓H
␈↓ α These␈α∞are␈α∞fingers␈α∞with␈α∞sensitive␈α∞switches␈α∞mounted␈α∞in␈α∞the␈α∞center␈α∞of␈α∞the␈α
finger␈α
pads.␈α
Their␈↓ ↓H
␈↓ ↓Hswitch␈α∪output␈α∪can␈α∪be␈α∪read␈α∪through␈α∪the␈α∪extra␈α∩bit␈α∩input␈α∩lines␈α∩on␈α∩our␈α∩interface.␈α∩All␈α∩wires␈α∩and␈↓ ↓H
␈↓ ↓Hconnectors␈αare␈αprovided.␈αCurrently␈αavailable␈αonly␈αwith␈αthe␈αStanford␈αArm.␈↓ ↓H
␈↓ ↓H
TOUCH SENSING FINGERS␈↓ ↓H
␈↓ α These␈α∞are␈α∞fingers␈α∞with␈α∞strain␈α∞gauges␈α∞mounted.␈α∞They␈α∞are␈α∞sensitive␈α∞to␈α∞touching␈α∞and␈α
gripping␈↓ ↓H
␈↓ ↓Hforces.␈α⊃Resolution␈α⊃is␈α⊃3␈α⊂grams␈α⊂with␈α⊂a␈α⊂maximum␈α⊂force␈α⊂of␈α⊂5␈α⊂kg.␈α⊂Amplifiers␈α⊂and␈α⊂signal␈α⊂conditioning␈↓ ↓H
␈↓ ↓Helectronics␈α∂is␈α∂included.␈α∂This␈α∂unit␈α∂connects␈α∂to␈α∂the␈α∂spare␈α∂analog␈α∂inputs␈α∂of␈α∂our␈α∂interface.␈α∂Available␈↓ ↓H
␈↓ ↓Honly␈αon␈αthe␈αStanford␈αArm.␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ εB-2-␈↓ ↓H