perm filename VIRGIN.L[1,VDS] blob sn#100263
filedate 1974-05-01 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00002 PAGES
C REC PAGE DESCRIPTION
C00002 00002 \\M1BDR25\M2SIGN57\M3NGR25\M4NGR20\F2\CVICARM
\F3\C154 EAST DANA STREET
\CMOUNTAIN VIEW, CA. 94041
Professor E.A. Parrish
Department of Electrical Engineering
School of Engineering and Applied Science
University of Virgina
Charlottesville, Virginia 22901
Dear Professor Parrish:
I must apologize for not responding sooner to your two letters written over
the past year. As you can see from the heading on this letter, I am making arms
commercially now, although I am still on the staff at Stanford University.
Should you be interested in purchasing a completed arm, the
Stanford arm is available at a price of $15,000 with potentiometers on all joints,
and at a price of $16,000 with optical encoders on the first three joints plus
potentiometers on all the outer joints. This includes a hand,power amplifiers,
power supply, and a simple manual controller. No computer interface is included.
Enclosed are the layout and detail drawings of the Stanford Arm, as you
have requested. In addition
I 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.
From past experience, I find that 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 a brief description of the M.I.T. arm.
This arm is available only in completed form at a price of $5700 with
hand,amplifiers, power supply, and manual control. As with the Stanford arm, the
computer interface is not included nor is it available from VICARM at the present
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
Several other groups are either making Stanford Arms, or are interested in
doing so. Here are some people you may wish to contact. Possibly you can
work out some way of making multiple parts and save on machining and assembly costs.
Prof. David Waltz
Coordinated Sciences Lab.
University of Illinois
Prof. Merill Ebner
Dean of Engineering
Boston, Ma. 02215
Prof. John Luh
School of Electrical Engineering
Lafayette, Ind. 47907
Prof. Richard Northouse
Dept. of Electrical Engineering
University of Wisc.-Milwaukee
Milwaukee, Wisc. 53201
I hope this belated letter and the enclosures help you out. Feel free to
contact me should you have any other questions.\.
VDS:pdp10 encl. Dwgs. 9-1 to 9-65 and 36-1 to 36-13.