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\\M1BDR25;\M2SIGN57;\M3NGR25;\M4NGR20;\F2\CVICARM
\F3\C154 EAST DANA STREET
\CMOUNTAIN VIEW, CA. 94041
\F4\←L\-R\/'7;\+R\→.\→S   Telephone:
\←S\→.415-965-0557
\F1\CApril 30,1974



Professor John Luh
School of Electrical Engineering
Purdue University
Lafayette, Indiana 47907  


Dear Professor Luh:

\J
	Enclosed are the layout and detail drawings of the Stanford Arm.  In addition,
  have enclosed a parts list and some other information about the arm.  This information
is not complete.  In looking through the drawings you will note that some details are
not clearly shown, and some inconsistencies appear.  I am working to improve the
drawings, but since this is out of the scope of my present work at Stanford Univ., 
the progress is a bit slow.   In any event, with a little imagination, there is enough
information to complete the arm.  

	I mentioned my reluctance to assist you in making the arm entirely
yourself.  This is because I always seem to underestimate the amount of my time required
to re-explain all the small but important details, each time a new group tackles 
the arm.  Thus, I am now suggesting to all those interested that they  make all
the machined parts and do the major assembly and wiring, and let me deliver a kit
consisting of almost all the purchased parts, and some of the more delicate assemblies
already completed.  This will save all parties time and effort.  

	
	The price of such a kit is expected to be about $5500 with potentiometer
feedback elements on all joints, and about $6500 with optical encoders on the 
three shoulder joints (pots on the outer joints).  I am presently saying that the
machining and assembly time will take you about 500 man-hours ( we can do it in
a lot less time, but I am including your spending some time figuring things out).
In addition, you will have to buy about $300-$350 worth of material (mostly 
aluminum tubing and plate stock).  The electronics will cost another $600 for parts
plus about 100 man-hours to assemble.  

	Also included is another brief description of the M.I.T. arm.  As I mentioned
during our phone conversation, it is not practical to make one or even two
of these small arms, because the costs for the special gears, and other components
are prohibitive in small quantities. The price for this arm is $5700 each, including
hand, manual controller, and electronics.  The computer interface is not supplied.

	I have also included a few drawings relating to the Sierra Scientific television
camera mount I designed and developed at Stanford.  This is a computer driven, high
speed turret which has servoed
pan and tilt functions.  The camera head has servoed focus, zoom, iris, and color
filter ( via a 6 position color wheel) selection.  I hope to make this unit
available thru VICARM in 6 to 8 months or so.  

	The  duplicating and processing cost for the drawings is $30.
These drawings are
given to you with the understanding that they will not be used for
any commercial purposes, nor will they be shown to 
companies or individuals outside of your immediate 
organization.    Don't hesitate to call or write
should you have any furthur questions.\.
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Yours sincerely,



Victor Scheinman
    President

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