00100			SPECIFICATIONS FOR STANFORD ARM
00200				NOVEMBER 6,1973
00300	
00400	LIMITS OF MOTION-EACH JOINT
00500	#1- 300degrees total rotation
00600	#2- 200 degrees (optional 300 degrees)
00700	#3- 30 inches total linear motion 
00800	#4- 330 degrees- (optional 600 degrees)
00900	#5- 220 degrees
01000	#6- 330 degrees- (optional 600 degrees)
01100	Hand- 4.2 inches grasping motion(total travel both fingers)
01200	
01300	MAX SPEED EACH JOINT
01400	JOINT #      UNLOADED      LOADED WITH 5 LBS.- AGAINST GRAVITY
01500	 
01600	1		3 rad/sec	2 rad/sec
01700	2		1.5 rad/sec 	1 rad/sec
01800	3		40 inches/sec	20 inches/sec
01900	4		3 rad/sec	1 rad/sec
02000	5		3 rad/sec	1 rad/sec
02100	6		6 rad/sec	3 rad/sec
02200	hand		2 inches/sec	1 inch\sec
02300	
02400	
02500	MAXIMUM LIFT
02600	
02700		Within  the  defined  workspace  which  is  a  50  centimeter
02800	diameter hemisphere centered on a point on the same plane ase the arm
02900	base and 40 centimeters from the centerline of the  base  plate,  the
03000	arm will lift a rough steel block having a mass of 4.5 kg.
03100	
03200	
03300	ACCURACY AND PRECISION
03400	
03500		Within  the  defined workspace, the arm has an accuracy of .2
03600	inches and a repeatability of  .1  inches  when  using  potentiometer
03700	calibration tables and 12 bit resolution a/d.
03800	
03900	OTHER DETAILS
04000	
04100		The arm runs  on  120vac  supply  voltage.   A  power  supply
04200	(included in electronics option) provides + and- 30 vdc for the servo
04300	motors.  These motors are controlled through linear  d.c.  amplifiers
04400	which  require  a +- 10 volts signal from a dac or similar device.  A
04500	cable from the arm provides the feedback signals- 7 pot. signal wires
04600	(plus  2  more  when the extended range option is ordered on joints 4
04700	and 6), 2 wires for the  pot  elements  (Customer  supplies  his  own
04800	reference  signals-  +-10volts  or  0-  -10  volts is typical.) Also,
04900	tachometer leads from all 6 joints- these can be directly fed to  a/d
05000	channels.   Seven  spare  wires  are  provided  to the hand for extra
05100	instrumentation.
05200	
05300	TORQUE AND DUTY CYCLE LIMITS
05400	
05500	JOINT#		MAX.CONTINUOUS TORQUE	MAX.TORQUE(10%DUTY CYCLE-MAX.5 SECS)
05600	1		200 in-lbs		400 in-lbs
05700	2		400 in-lbs		800 in-lbs
05800	3		7 lbs			14 lbs
05900	4		35 in-lbs		70 in-lbs
06000	5		35 in-lbs		70 in-lbs
06100	6		10 in-lbs		20 in-lbs
06200	hand		5 lbs			10 lbs
06300