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\|\\M1BDR30;\M2SIGN57;\M3NGR25;\M4NGR20;\F2\CUNIMATION INC.
\F3\C154 EAST DANA STREET
\CMOUNTAIN VIEW, CA. 94041
\F4\←L\-R\/'7;\+R\→.\→S   Telephone:
\←S\→.415-965-0557
\F1\CMarch 3, 1977



Professor Ivan Sutherland
Department of Computer Sciences
California Institute of Technology
Pasadena, Calif.


Dear Professor Sutherland:

\J
	Les Earnest  has  asked me  to  reply to  your  letter  requesting
information on  motors, gearing  and  encoders, as  I  am the  person  who
developed the Stanford manipulators.

	Motors: You are interested in pancake type motors.  These are made
by Printed Motors, Inc.  Glen Cove,  N.Y.  Enclosed is a general  brochure
on them.  They make a good quality motor here in the U.S., and they import
a lower cost version from Japan.  I used 2 of these in each Stanford  Arm.
They have local reps who can give you more literature.  Other high quality
motors are made by Magnetic Technology; Canoga Park, Ca. and Inland  Motor
Corp; Radford, Va.

	Gearing:  The  high  ratio  inline  gear units  are  made  by  USM
corporation of Wakefield, Mass.  They  are called Harmonic Drives and  are
available in several sizes and with different gear ratios.  They too  have
local reps, and also offer lower cost imported versions.

	Encoders:  The Stanford arms do not have encoders, but some of  my
more  recent  manipulators  do.   I  currently  favor  Litton   Industries
Encoders; Chatsworth,  Ca.  Also  good  are Baldwin,  Teledyne-Gurley  and
Dynamics Research.  They come in different sizes, with varying counts  and
different types- incremental, absolute, with and without electronics,  and
housed or unhoused.

	I hope this information gets you  on your way.  I have also  taken
this opportunity to enclose some of my company sales literature.\.
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Yours sincerely,



Victor Scheinman
 General Manager
 West Coast
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VDS:pdp10