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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\CMarch 19, 1974



Mr. Gerald J. Gleason
Stanford Research Institute
333 Ravenswood Avenue
Menlo Park, Ca.


Dear Jerry:

\J

	VICARM is  pleased to quote  on modification  of your arm  to
incorporate  high speed wrist  joints.   The price for  supplying and
replacing the  motors in  joints 4  and 5  with  higher speed  (lower
resistance armatures) motors, modifying the electronics, and properly
setting  up these  two joints to  function smoothly  is $600.00. This
includes manufacture of new motor shafts and updating these joints to
the  latest  configuration.   (One  of the  features  of this  latest
configuration is that the tach on joint #5 does not stick out of  its
mount so far.  Its vunerability to damage  is greatly reduced.  Also,
its  mounting  configuration  is such  that  it  can  be removed  and
installed with  less chance  of error.   This  price  is an  exchange
price, based on our keeping the old armatures and the armatures being
in useable condition.  

	We are also pleased to  quote on the installation of dirt and
dust seals on joints #1,2, and 5.  The price for these seals and  the
associated modifications is $750.00.

	At  the  present  time we  are  also  preparing  a  quote  on
modification  of your arm  to accept  optical encoders(incremental or
absolute) or resolvers on joints 1,2,3.  Joint 4 may also  be offered
with the encoder or resolver option, but  not at the present time.  A
quote will be forthcomming shortly.


	Delivery   time   on   the  joint   modifications   and  seal
installation is 12 weeks ARO, with an arm downtime  of 5 working days
maximum.\.
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Yours sincerely,



Victor Scheinman
    President

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VDS:pdp10