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\F4\←L\-R\/'7;\+R\→.\→S   Telephone:
\F1\CNovember 8,1974

Prof. Berthold Horn
Artificial Intelligence Laboratory
545 Technology Square
Cambridge, Mass. 02139

Dear Berthold:

	Enclosed are the drawings I have been promising to send since last spring.
These drawings cover the arm you already have.  They are arranged in eight
groups.  One group for each joint (i.e.  Dwg. M3-4 means the fourth drawing in
the group of drawings covering the third joint on the M.I.T. arm), and one group of
layout drawings.  I have also enclosed a couple of the original quotes on arm part
fabrication.  These quotes are from firms in the Cambridge area.  They cover only
part fabrication to the drawings, and not assembly, wiring, etc.  I must admit that
many modifications and changes have been made since these quotes were obtained, so 
the prices shown do not reflect the exact current costs, but can serve as a guideline
for your own reference.  

	The arms I am working on currently are quite a bit different internally, but
dimensionally nearly the same.  The internal changes have been made to allow 
incorporation of tachometers on joints 1 thru 5, reduced backlash, better
wiring layout, and easier dissassembly for repair.  I have also re-engineered 
some of the weak spots on the arm and hand.  The drawings for this new arm are 
similar to the enclosed set, execpt that where significant changes have been made, I 
have made completely new drawings to avoid confusion.  I am planning to send you
a set of these new drawings when they are completed (in the next few weeks).  

	As I mentioned to you in my NET message, I expect to get your arms to you 
before the end of the year if all goes well.  Most of the parts have been made,
but since these arms are still prototype devices, there are still some bugs to be
worked out.

	If you are having any severe problems, let me know- by a NET message
to VDS at SAIL.  The only way I have of knowing about arm problems is through 

	Once again, I'm sorry for all the inconvenience I've caused you, but had I known
of all the problems I'd be running into, I probably would never have tried to make
these arms.  I WILL deliver, just hang on a while longer.\.

Yours sincerely,

Victor Scheinman