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\F4\←L\-R\/'7;\+R\→.\→S   Telephone:
\F1\CApril 18, 1974
Mr. George Wallace
Artificial Intelligence Project
545 Technology Sq.
Cambridge, Ma. 02139

Dear George:

	VICARM is pleased to provide you with the following firm
quotations on manufacture and delivery of the M.I.T. arm.
	Basic Arm-  $4000  (no hand, no electronics)
	Hand     -  $ 600
	Electronics-$ 800
	Tachometers on first three joints-  $500
	Total price for complete package(all above) - $5500.

	The Basic Arm includes all the motors, pots, brakes, and
structure, all wired up with a 50 pin 3-M connector on the back.

	The Hand includes the standard hand, like the one you have, with its
motor, drive mechanism, pot, and either parallel motion jaws, or 
free jaws.   

	The Electronics includes a power supply, the power amplifiers
for all the joints and hand, the brake drivers, current limiting 
logic, and a simple manual controller for releasing brakes, and 
moving individual joints (similar to what you already have). The 
electronics package runs on 120 vac, and interfaces directly with 
your a/d and d/a.  Not included is the precision pot supply.

	The Tachometers are additions to joints 1,2,3 to improve servo
stability and smoothness.  It is anticipated that eventually all joints
will have tachs., probably retrofitable on arms ordered with the 
Tach option listed above, at a cost of about $100 each extra joint.

	Delivery is presently planned for around the middle of July for
the two arms you supposedly have on order.  

	Since you have requested this formal quotation, I would appreciate
your sending me a purchase order, indicating your formal intentions.

      	George, I hope,that this letter 
answers most of your questions.  Should you want
to contact me, you can frequently get me at home (415-493-3038) between 8-9 AM or else
try the company phone number above.
	I talked to Nick Horn, and I will be sending him some of the drawings.
In addition, I will send him copies of some of the quotes I obtained on making
many of the parts.  This can serve as a price guide for you.  By the way, I
have always assumed that I was only making a total of three arms for M.I.T.  
I understood that you would be willing to consider taking more, should I find
it necessary to sell you more to end up breaking even on the whole project, but
to my knowledge, you never seriously talked about any more than three arms
Yours sincerely,

Victor Scheinman