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\F4\←L\-R\/'7;\+R\→.\→S   Telephone:
\F1\CApril 30,1974

Prof. David Waltz
Coordinated Sciences Lab.
University of Illinois
Urbana, Ill. 61801

Dear Dave:

	At long last, enclosed are the drawings you have been waiting
for.  They are as up to date as I could make them, but as with most
evolving things, there are ,no doubt, some undetected bugs here and there.
I have marked in a few places where I plan to make some revisions in the next
month or two.  This generally relates to the provisions for wiring the arm.
You can start making all the parts which don't have an "s" somewhere in or
near the title box.  The parts with an "s" are parts of assemblies which I am
thinking of either revising or of doing myself, should you be interested in
purchasing some of the assemblies already assembled.  

	As I mentioned on the phone, I am suggesting that you consider letting
me sell you some or all of the purchased parts, and some of the assemblies already
assembled.  This will save me from having to fill you in on many of the small but
important details. I have set a price of $5500 for a kit of all the parts listed
on the parts list, plus all the "s" marked parts. For the encoder version of this
kit, the price is $6500 with encoders for joints 1,2 and 3( pots on the outer joints
).  Since you have already purchased some parts, the price would be a few hundred
dollars less, depending on what you have purchased.  The kit includes all the
motor, brake, tachometer and position feedback assemblies on all the joints as 
completely assembled as is possible. You will have to do some additional hand fitting on
assembly- the
amount depends on how well you have held the machining tolerances, etc.
The wiring and electronics are not included in the kit, but the arm connectors, cables,
and brackets are included. Also included in this package is my advice and help and my
supplying of details including special assembly notes, photographs, etc. plus information
on computer interfaces etc., when these improvements and new details
are developed.

	I have estiimated that the machining and assembly time required on your 
part will be about 500 man-hours, plus $300 worth of material (mostly aluminum
tube and plate stock).  The electronics will cost another $600 for parts plus
about 100 man-hours to assemble, exclusive of the computer interface itself.

	The drawings are given to you with the understanding that they will not
be used for any commercial purpose, nor will they be shown to companies or
individuals outside your immediate organization.

	I hope this all sounds reasonable. If not, let me know, as I am trying to
set this arrangement up as fairly as possible to all parties.

	I've yet to formally thank you for your hospitality during my visit to
Urbana.  Thanks, it was a pleasure to see you there.  The next time you're in this
area, let me know sooner- I too have a house, with some extra room should you
care to stay a night or two.\.

Yours sincerely,

Victor Scheinman