COMMENT ⊗   VALID 00002 PAGES
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C00001 00001
C00002 00002            LIST OF DRAWINGS
   FOR THE STANFORD ARM
C00007 ENDMK
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       LIST OF DRAWINGS FOR THE STANFORD                    NT DIMENSI
            DS                                  2       LAYOUT JOINTS 4,5,6.
          37      MOTOR BACK PLATE -JOIN                  17a      #2 JOINT- BRAKE AND E
                      RSION                       NCODER MOU
  T #4                                                    45a     CONNECTOR MOUNTING PLA
          11                                                          ONS
   ARM                                            TE- WINCHE
                    56      #6 JOINT- MO                    NT
  TOR MOUNT                                     3       BASE PLATE
          38      MOTOR MOUNT PLATE - JO                            61      #4 JOINT TAC
            PLATE                                 HOMETER DR
  INT #4                                                    STER
          12      P.C. MOTOR HOUNSING MO                    IVE GEAR M
  D- JOINTS                                     3a      BASE PLATE- COMPACT STYLE
                                                          18      BEARING RETAINER- JOIN
                    57      #6 JOINT- OU          TS #1 AND
  TPUT SHAFT                                              46      HARMONIC DRIVE HOUNING
          39      MOTOR SHAFT -JOINT #4                               ODS.
             - SHORT V                            - JOINT #5
                ALL ARE SERIES 9 -DATE T                    #2
            #1 AND 2                            4       MAIN TUBE- JOINT #1
          40      JOINT #4- WIRE FEEDTHR                            62      #6 JOINT - C
                      ERSION                      OVER
  U TUBE                                                  47      MOTOR BACK PLATE- JOIN
          13      DRIVE TUBE - JOINT #2                   19      #3 JOINT- FRONT END ST
  HIS VERSION- APRIL 7, 1975                      OP
                    58      #6 JOINT- DR          T #5
  IVE GEAR A                                                        63      GEAR MOD.- I
          41      #3 JOINT - STOP BLOCK           DLER AND T
            ND JOINT S                          5       DRIVE TUBE- JOINT #1
                                                            ACH DRIVE-
          14a     MOTOR MOUNT- JOINT #2                   48      MOTOR MOUNT PALTE- JOI
          42a     HARMONIC DRIVE MOUNT-                   20      BOOM GUIDE TUBE- JOINT
                      TOP                          #3
  JOINT #4-                                       NT #5
          15a     BEARING RETAINER- JOIN                               #6 JOINT
  T #2                                          6a      #2 JOINT- HOUSING SIDES (LEFT AN
NUMBER                  TITLE                             21      ROLLER MOUNTING BLOCKS
                    59      #6 JOINT- ID          - JOINT #3
  LER AND BR                                              49      MOTOR SHAFT- JOINT #5
            POT VERSION                                             64      MOTOR MOD- #
            AKE PINION                            6 JOINT
                                                  D RIGHT)
          16a     #1 JOINT- BRAKE AND EN                  22      ROLLER SHAFT -JOINT #3
  CODER MOUN                                              50a     #3 JOINT BRAKE HUB
          43      BASE PLATE- JOINT #5                              65      BOOM CABLE G
                       SHAFTS                     UARD
1       LAYOUT JOINTS 1,2,3.                    7       COUPLING
            T                                             23      GUIDE ROLLERS - JOINT
          44      BRAKE ARMATURE MODS. -          #3
                    60      HARMONIC DRI                  51      STOP- #4 JOINT- 600DEG
  VE HUB MOU                                                        66      #6 WIRE GUAR
  JOINT #4                                        D

  . ROTATION
          24      ROLLER ASSEMBLY DETAIL
   - JOINT #
8a      HARMONIC DRIVE DISK- SLIP VERSIO
                    67a     BRAKE DISK M
  OD- JOINTS
          52a     #2 HOUSING TOP
             1 AND 2
  N
            3
          53      #5 JOINT- DRIVE ARM
                    68      #1 MOTOR SHA
  FT- MOD. T
9a      CLAMP RING -JOINT #1
            O U9M4T
          54      #5 JOINT- IDLER ARM
          25a     #3 JOINT - MOTOR SHAFT
10a     BEARING MOINT- #2 JOINT- BOTH EN
                    69      #2 MOTOR SHA
  FT- MOD TO
          55      #6 JOINT HOUSING- LIGH
             U12M4T
  TWEIGHT VE
          26      #3 JOINT MOTOR MOUNT P
  LATE

          70      JOINTS #1 ANDR2- HARMO
  NIC DRIVE
27      #3 JOINT MOTOR BACK PLATE -
            HUB
28a     #3 JOINT BRAKE FIELD
          71      #1 AND #2 JOINTS- HUB
  STOP
29a     #3 JOINT BRAKE MOUNT
          72      ENCODER SHAFT- JOINTS
  #1 AND #2
30      BOOM - JOINT #3
          73      POTENTIOMETER ADAPTER-
   JOINTS 1
31      RACK MOUNT - JOINT #3
            AND 2 (POT VERSION)
32      JOINT #3 DRIVE RACK MOD.
          74      #1 AND #2 MOTOR SHAFT-
   ASSEMBLY
33      #3 JOINT DRIVE GEAR MOD.
            DETAILS
34      JOINT #4 HOUSING
          75      #1 AND #2 JOINTS- HARM
  ONIC DRIVE
35      BRAKE FIELD HOUSING - JOINT #4
             ASSY.- LAYOUT
36      BEARING RETAINERS - JOINT #4
          76      #3 JOINT- MOTOR ASSEMB
  LY DRAWING

77      EENCODER DIAPHRAM
78      ENCODER ADAPTER PLATE-
79      HARMONIC DRIVECONNECTING TUBE
80      COIL FORM-- #4 BRAKE
81      BRAKE COIL FORM- JOINT#3
82      DIAPHRAM HUB AND RETAINER
83      #3 JOINT- ENCODER MOUNT
84      #3 JOINT- POT MOUNT PLATE
85      #3 JOINT- ENCODER COVER
86      ARM- HAND INTERFACE PLATE
87      #6 JOINT - POT WIPER
88      POTENTIOMETER ELEMENT MOUNTS- JO
  INTS 4 AND 5
89      #4 JOINT- POT WIPER MOUNT
90      ENCODER SHAFT - #3 JOINT
91      #4 JOINT STOP SLIDER- CUSHION