∂21-NOV-74  1924		network site AI
 Date: 21 NOV 1974 2223-EST
 From: TK1 at MIT-AI
 To: VDS@SU-AI
    
   VIC,   
 JOINT 1 STOP HAS BEEN INCREASED TO 5 DEGREES ON EITHER SIDE OF THE ORIGINAL STOP,
         PREVENTING THE POT WIPER FROM ENTERING THE DEAD ZONE.
 JOINT 2 MOTION STOP INCREASED BY ADDING A DOWEL PIN, DITTO ABOVE.
 JOINT 3 FRICTION IN MOTOR (BEARING MISALIGNMENT) FIX HAS BEEN ACCOMPLISHED BY 
         SHIMMIMG THE MOTER COVER PLATE AND THE MOTOR HOUSING,  IT IS BETTER THAN
         BEFOR BUT NOT PERFECT.  THE DRIVE GEAR HAS A MISSING SECTION OF TEETH AT
         ONE POINT DUE TO THE FACT THAT THERE TWO HOLES ABOUT 120 DEGREES APART
         THAT ARE TOO CLOSE TO THE GEAR TOOTH CIRCLE.  THE DRIVE GEAR HAS BEEN
         ROTATED ABOUT 18O DEGREES AND THE POT WIPER HAS BEEN RELOCATED TO READ THE 
         PRESENT CONFIGURATION.  A MOTION STOP IS BEING ADDED TO PREVENT THE FORE
         ARM FROM FOLDING OVER THE UPPER ARM.  
 JOINT 4 THIS JOINT IS THE BEST ONE AS FAR AS DRIVE TRAIN FRICTION IS CONCERNED-
 	THE DOUBLE POT ARRANGEMENT WINS WITH SOME SOFTWARE HAIR.
 JOINT 5 THE MOTOR OF THIS JOINT IS THE BASIC SOURCE OF THE PROBLEMS, IT HAS SOME
 	SHORTED WINDINGS OR BROKEN BRUSH ASSEMBLY, THE BRAKE DRAGS A BIT, BUT HAS
 	BEEN FIXED.  A NEW-BRAKE ASSEMBLY SHOULD CURE MOST OF THIS JOINT'S
 	PROBLEMS.  THE GEARING ISN'T TOO BAD ALTHOUGH THERE IS SOME WEAR ON THE
 	RING-GEAR.
 JOINT 6	THE IDLER GEAR HAS A BROKEN TOOTHE ON THE DRIVE SIDE (SMALL SIDE) A
 	REPLACEMENT WOULD BE APPRECIATED. THE MOTION STOP HAS TO BE RE-WORKED,
 	MADE SOFTER TO PREVENT THIS FROM HAPPENING AGAIN.
 JOINT 7	"END EFFECTOR" THE WIREING HAS BEEN MADE THROUGH THE CONNECTOR RING AND
 	THE HAND HAS BEEN INSTALLED AND IS WORKING.  THE POT ELEMENT HAS A BROKEN
 	WIRE INSIDE THE ASSEMBLY - A NEW CONNECTOR RING AND A DESCRIPTION OF THE
 	HAND POT WOULD BE APPRECIATED.
 
 THE ENTIRE ARM HAS BEEN DISSASSEMBLED EXCEPT FOR THE JOINT 5 GEAR BOX - DOWEL
 PINNED HACK.  I REWIRED - RE-WORKED MOST OF THE ARM AT THIS POINT AND IT SEEMS TO
 BE WORKING, AT LEAST FROM A BENCH - TEST -- OHM-METER --- POINT OF VIEW.  PLEASE
 SEND THE MATERIALS OUTLINED ABOVE WHEN YOU GET A CHANCE.
 					Fred