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␈↓↓␈↓α␈↓β␈↓∧␈↓α␈↓ ¬7VICARM␈↓ ↓H
␈↓β␈↓ ¬8154  EAST DANA STREET␈↓ ↓H
␈↓ ¬$MOUNTAIN  VIEW, CA. 94041␈↓ ↓H
␈↓∧␈↓ 
+ Telephone:␈↓ ↓H
␈↓ 
+415-965-0557␈↓ ↓H
␈↓↓␈↓ ¬sJanuary 19,1976␈↓ ↓H
␈↓ ↓H
Mr. T.J. Donnelly␈↓ ↓H
Westinghouse Nuclear Division␈↓ ↓H
P.O. Box 2728␈↓ ↓H
R & D Center- Building 101␈↓ ↓H
Pittsburgh, Pa. 15235␈↓ ↓H
␈↓ ↓H
Dear Mr. Donnelly:␈↓ ↓H
␈↓ ↓H
␈↓ α Vicarm␈α∂is␈α∂pleased␈α∂to␈α∂reply␈α∂to␈α∂your␈α∂request␈α∂for␈α∂proposal␈α∂for␈α∂a␈α∂remote␈α∂manipulator␈α∞system␈↓ ↓H
␈↓ ↓Hsuitable␈α∪for␈α∪use␈α∩in␈α∩the␈α∩channel␈α∩head␈α∩and␈α∩tube␈α∩plate␈α∩area␈α∩of␈α∩your␈α∩Westinghouse␈α∩Nuclear␈α∩Heat␈↓ ↓H
␈↓ ↓HExchanger.␈↓ ↓H
␈↓ ↓H
␈↓ α Due␈α∪to␈α∪the␈α∪extremely␈α∪limited␈α∩time␈α∩we␈α∩have␈α∩had␈α∩to␈α∩prepare␈α∩our␈α∩response,␈α∩our␈α∩present␈↓ ↓H
␈↓ ↓Hproposal␈αwill␈αhave␈αto␈αbe␈αbrief␈αand␈αlimited␈αin␈αscope.␈↓ ↓H
␈↓ ↓H
␈↓ α We␈αhave␈αlooked␈αat␈αtwo␈αdifferent␈αapproaches␈αto␈αyour␈αproblem.␈αThe␈αfirst␈αsolution␈αinvolves␈αan␈↓ ↓H
␈↓ ↓Henlarged␈α⊃version␈α⊃of␈α⊃our␈α⊃Model␈α⊃Stanford␈α⊃Manipulator,␈α⊃mounted␈α⊃in,␈α⊃or␈α⊃next␈α⊃to␈α⊂the␈α⊂manway.␈α⊂The␈↓ ↓H
␈↓ ↓Hsecond␈α∪approach␈α∪involves␈α∪a␈α∪smaller␈α∪manipulator␈α∪which␈α∪travels␈α∪on␈α∪a␈α∪fixed␈α∪or␈α∪semi-fixed␈α∪guide␈↓ ↓H
␈↓ ↓Hmounted␈αwithin␈αthe␈αchannel␈αhead.␈↓ ↓H
␈↓ ↓H
␈↓ ↓HThe␈αFirst␈αSolution.␈↓ ↓H
␈↓ α The␈α⊃Vicarm␈α⊃model␈α⊃Stanford␈α⊃Manipulator␈α⊃is␈α⊃a␈α⊃six␈α⊃degree␈α⊃of␈α⊃freedom␈α⊃computer␈α⊂controlled␈↓ ↓H
␈↓ ↓Hmanipulator␈α∞characterized␈α∞by␈α∞six␈α∞independent,␈α∞D.C.␈α∞motor␈α∞powered␈α∞joints.␈α∞The␈α∞manipulator␈α∞can␈α
be␈↓ ↓H
␈↓ ↓Hquickly␈α∞separated␈α∞into␈α∞three␈α∞sections.␈α∞The␈α∞shoulder␈α∞section␈α∞contains␈α
two␈α
revolute␈α
joints,␈α
and␈α
the␈↓ ↓H
␈↓ ↓Hdrive␈α
for␈α
the␈α
prismatic␈α
joint.␈α
The␈α
boom␈αsection␈αis␈αa␈αsquare␈αaluminum␈αtube␈αwith␈αa␈αrack␈αmounted␈αon␈↓ ↓H
␈↓ ↓Hone␈α
side.␈α
This␈α
boom␈α
slips␈α
into␈α
the␈α
shoulder␈α
and␈α
engages␈αthe␈αprismatic␈αjoint␈αdrive␈αpinion.␈αThe␈αthird␈↓ ↓H
␈↓ ↓Hsection␈α
is␈α
the␈α
wrist␈α
section.␈α
This␈α
section␈α
consists␈α
of␈α
three␈αrevolute␈αjoints␈αwith␈αintersecting␈αaxes,␈↓ ↓H
␈↓ ↓Hand␈αa␈αhand␈αdrive␈αunit␈αwith␈αprovision␈αfor␈αvarious␈αterminal␈αdevices.␈↓ ↓H
␈↓ ↓H
␈↓ α Each␈α∞of␈α∞these␈α∞six␈α∞joints␈α∞plus␈α∞the␈α∞hand␈α∞unit␈α∞is␈α∞an␈α∞independent␈α∞servo␈α∞system␈α
consisting␈α
of␈α
a␈↓ ↓H
␈↓ ↓HD.C.␈α⊂motor,␈α⊂reducer,␈α⊂tachometer,␈α∂position␈α∂feedback␈α∂device␈α∂(encoder,␈α∂resolver␈α∂or␈α∂potentiometer),␈↓ ↓H
␈↓ ↓Hand␈α∂brake.␈α∂Thus,␈α∂the␈α∂three␈α∂sections␈α∂are␈α∂very␈α∂simply␈α∂mechanically␈α∂and␈α∂electrically␈α∂assembled␈α∞into␈↓ ↓H
␈↓ ↓Hthe␈α∞complete␈α∞manipulator.␈α∞To␈α∞meet␈α∞your␈α
requirements,␈α
Vicarm␈α
would␈α
first␈α
consider␈α
increasing␈α
the␈↓ ↓H
␈↓ ↓Hsize␈αof␈αour␈αmanipulator␈αelements␈αto␈αmeet␈αyour␈αload␈αspecifications.␈αOur␈αcurrent␈αmanipulator␈αemploys␈↓ ↓H
␈↓ ↓Hthe␈α
USM␈α
Harmonic␈α
Drive␈αreducer.␈αWe␈αhave␈αchecked␈αtheir␈αspecifications␈αand␈αit␈αappears␈αpractical␈αto␈↓ ↓H
␈↓ ↓Hscale␈α∪up␈α∪our␈α∪manipulator␈α∪to␈α∪meet␈α∪your␈α∪load␈α∪requirements.␈α∪In␈α∪addition,␈α∪the␈α∪natural␈α∪low␈α∪tooth␈↓ ↓H
␈↓ ↓Hengagement␈αvelocity␈αof␈αthis␈αsort␈αof␈αdirve␈αmakes␈αan␈αoil␈αfree␈αdrive␈αsystem␈αpractical.␈αWe␈αalso␈αsee␈αno␈↓ ↓H
␈↓ ↓Hreason␈α
to␈α
conisder␈α
anything␈α
other␈α
than␈α
an␈α
all␈αelectric␈αdrive␈αsystem,␈αas␈αyour␈αpower␈α(rate␈αof␈αwork)␈↓ ↓H
␈↓ ↓Hrequirements␈αare␈αrather␈αlow.␈αThe␈αhigh␈αpower␈αto␈αweight␈αproperties␈αof␈αan␈αhydraulic␈αsystem␈αwould␈αbe␈↓ ↓H
␈↓ ↓Hof␈αno␈αbenefit␈αhere.␈↓ ↓H
␈↓ ↓H
␈↓ ↓HThe␈α∞specification␈α∞that␈α∞the␈α∞manipulator␈α∞reach␈α
all␈α
points␈α
within␈α
the␈α
channel␈α
head␈α
implies␈α
that␈α
all␈α
six␈↓ ↓H
␈↓ ↓Hdegrees␈α⊃of␈α⊃freedom␈α⊃be␈α⊃located␈α⊃within␈α⊂the␈α⊂head,␈α⊂or␈α⊂well␈α⊂into␈α⊂the␈α⊂manway.␈α⊂As␈α⊂we␈α⊂do␈α⊂not␈α⊂have␈↓ ↓H
␈↓ ↓Hsufficient␈αmanway␈αand␈αchannel␈αhead␈αdetails,␈αwe␈αhave␈αnot␈αdone␈αa␈αworking␈αvolume␈αstudy␈αand␈αare␈αthus␈↓ ↓H
␈↓ ↓Hnot␈αable␈αto␈αdimension␈αthis␈αproposed␈αmanipulator␈αat␈αthe␈αpresent␈αtime.␈↓ ↓H
␈↓ ↓H
␈↓ ↓HA␈αSecond␈αAlternative.␈↓ ↓H
␈↓ α Because␈αyour␈αaccess␈αport␈αis␈αsmall␈αrelative␈αto␈αyour␈αworking␈αvolume,␈αanother␈αapproach␈αmay␈αbe␈↓ ↓H
␈↓ ↓Htaken.␈α⊂This␈α∂system␈α∂involves␈α∂installation␈α∂of␈α∂a␈α∂removable␈α∂track␈α∂within␈α∂the␈α∂channel␈α∂head.␈α∂This␈α∂may␈↓ ↓H
␈↓ ↓Heither␈α⊃be␈α⊃a␈α⊃single␈α⊃tube␈α⊃or␈α⊃rail␈α⊂section␈α⊂mounted␈α⊂across␈α⊂the␈α⊂head,␈α⊂or␈α⊂a␈α⊂perimeter␈α⊂section,␈α⊂going␈↓ ↓H
␈↓ ↓Haround␈αthe␈αinside␈αof␈αthe␈αchannel␈αhead.␈αTravelling␈αon␈αthis␈αtrack␈αwould␈αbe␈αa␈αsmall,␈αstrong␈αmanipulator␈↓ ↓H
␈↓ ↓Hunit␈αwith␈αmultiple␈αdegrees␈αof␈αfreedom.␈αThis␈αunit␈αwould␈αbe␈αattached␈αto␈αthe␈αtrack␈αand␈αhave␈αto␈αability␈↓ ↓H
␈↓ ↓Hto␈α∞move␈α∞along␈α
the␈α
track,␈α
rotate␈α
around␈α
the␈α
track␈α
and␈α
rotate␈α
relative␈α
to␈α
the␈α
track.␈α
By␈α
having␈α
this␈↓ ↓H
␈↓ ↓Htrack␈α∩stationary␈α∩(or␈α∩with␈α∩only␈α∩a␈α∩single␈α∩rotational␈α∩degree␈α∩of␈α⊃freedom),␈α⊃a␈α⊃lightweight␈α⊃sectioned␈↓ ↓H
␈↓ ↓Hsupport␈α∀for␈α∀the␈α∀small␈α∀manipulator␈α∀could␈α∀be␈α∀obtained.␈α∀With␈α∀this␈α∀approach,␈α∀the␈α∀large␈α∀moments␈↓ ↓H
␈↓ ↓Hinvolved␈α⊂in␈α⊂a␈α⊂cantelevered␈α⊂manipulator␈α⊂system␈α⊂would␈α⊂be␈α⊂handled␈α⊂by␈α⊂a␈α∂stationary␈α∂structure.␈α∂The␈↓ ↓H
␈↓ ↓Hmanipulator␈αitself␈αwould␈αmerely␈αhave␈αto␈αhandle␈αthe␈αrequired␈αloads␈αand␈αlimited␈αoffset␈αmoments.␈αThis␈↓ ↓H
␈↓ ↓Hdesign␈α
approach␈α
would␈α
have␈α
to␈αbe␈αdone␈αfrom␈αscratch,␈αas␈αthe␈αmanipulator␈αsystem␈αwould␈αbe␈αmore␈αof␈↓ ↓H
␈↓ ↓Ha␈αspecial␈αpurpose␈αdevice␈αrather␈αthan␈αthe␈αgeneral␈αpurpose␈αdevices␈αVicarm␈αcurrently␈αproduces.␈↓ ↓H
␈↓ ↓H
␈↓ ↓HControl.␈↓ ↓H
␈↓ α Vicarm␈α∞produces␈α∞computer␈α∞controlled␈α∞manipulators.␈α∞All␈α∞our␈α∞manipulators␈α
are␈α
thus␈α
expressly␈↓ ↓H
␈↓ ↓Hdesigned␈αfor␈αcomputer␈αcontrol.␈αWe␈αsupply␈αthem␈αwith␈αcomputer␈αinterfaces,␈αwith␈αcomputer,␈αand␈αwith␈↓ ↓H
␈↓ ↓Hsoftware,␈α
depending␈α
on␈αthe␈αcustomer's␈αdesires.␈αWe␈αoffer␈αa␈αhardware␈αmultimode␈αservo␈αsystem␈αwith␈↓ ↓H
␈↓ ↓Hcomputer␈αselectable␈αposition,␈αvelocity,␈αand␈αtorque␈αservo␈αmodes.␈↓ ↓H
␈↓ ↓H
␈↓ α Our␈α∪arms␈α∪are␈α∩solvable␈α∩(not␈α∩all␈α∩current␈α∩manipulators␈α∩are!),␈α∩and␈α∩we␈α∩can␈α∩provide␈α∩solution␈↓ ↓H
␈↓ ↓Hprograms,␈α∀straight␈α∀line␈α∀motion␈α∀routines,␈α∪trajectory␈α∪programs,␈α∪and␈α∪other␈α∪software␈α∪to␈α∪suit␈α∪the␈↓ ↓H
␈↓ ↓Happlication.␈α∂Our␈α∂PDP-11␈α∂based␈α∂system␈α∞with␈α∞links␈α∞to␈α∞the␈α∞PDP-10␈α∞computer␈α∞provides␈α∞us␈α∞with␈α∞very␈↓ ↓H
␈↓ ↓Hlarge␈αcompute␈αpower.␈αWe␈αwould␈αdefinitely␈αsuggest␈αa␈αPDP-11␈αseries␈αcomputer␈αfor␈αyour␈αapplication.␈↓ ↓H
␈↓ ↓H
␈↓ ↓HTerminal␈αdevices.␈↓ ↓H
␈↓ α Our␈α
standard␈α
hand␈α
drive␈α
unit␈α
can␈α
mount␈α
different␈α
terminal␈αdevices.␈αWe␈αcurrently␈αalso␈αoffer␈↓ ↓H
␈↓ ↓Ha␈α∞simple␈α∞quickly␈α∞changeable␈α∞terminal␈α∞device␈α∞based␈α∞on␈α∞a␈α∞square␈α∞drive␈α∞and␈α
standard␈α
socket␈α
tools.␈α
A␈↓ ↓H
␈↓ ↓Hvariation␈α∞of␈α∞this␈α∞unit␈α∞may␈α∞be␈α∞suitable␈α∞for␈α∞your␈α
application.␈α
We␈α
also␈α
offer␈α
touch␈α
and␈α
force␈α
sensing␈↓ ↓H
␈↓ ↓Hfingers,␈αand␈αa␈α6␈αcomponent␈αwrist␈αmounted␈αforce␈αbalance␈αfor␈αprecise␈αforce␈αsensing␈αand␈αcontrol.␈↓ ↓H
␈↓ ↓H
␈↓ ↓HWhat␈αVicarm␈αcan␈αreally␈αdo.␈↓ ↓H
␈↓ ↓H
␈↓ α This␈α∞proposal␈α∞is␈α∞very␈α∞cursory,␈α∞as␈α∞has␈α∞been␈α∞our␈α∞thinking␈α∞during␈α∞this␈α∞brief␈α∞period.␈α∞Vicarm␈α
is␈↓ ↓H
␈↓ ↓Hnot␈αcurrently␈αfinancially␈αcapable␈αof␈αundertaking␈αa␈αfixed␈αprice␈αcomplete␈αsystem␈αcontract.␈αNor␈αdo␈αwe␈↓ ↓H
␈↓ ↓Hhave␈αthe␈αmanpower␈αto␈αassure␈αcompletion␈αof␈αsuch␈αa␈αproject␈αwithin␈αthe␈αapproximately␈αone␈αyear␈αtime␈↓ ↓H
␈↓ ↓Hframe␈α⊗you␈α⊗have␈α⊗suggested.␈α⊗Instead␈α⊗we␈α∃would␈α∃prefer␈α∃to␈α∃offer␈α∃our␈α∃services␈α∃in␈α∃the␈α∃area␈α∃of␈↓ ↓H
␈↓ ↓Hmanipulator␈α⊃design,␈α⊃or␈α⊃subsystem␈α⊃design,␈α⊃either␈α⊂individually,␈α⊂or␈α⊂in␈α⊂cooperation␈α⊂with␈α⊂other␈α⊂firms␈↓ ↓H
␈↓ ↓Hcontracting␈αwith␈αyou␈αon␈αthis␈αproject.␈↓ ↓H
␈↓ ↓H
␈↓ α We␈α∂look␈α∞forward␈α∞to␈α∞hearing␈α∞favorable␈α∞news␈α∞from␈α∞you␈α∞in␈α∞the␈α∞near␈α∞future␈α∞and␈α∞hope␈α∞that␈α∞in␈↓ ↓H
␈↓ ↓Hany␈αevent,␈αyou␈αkeep␈αus␈αin␈αmind␈αfor␈αother␈αmanipulator␈αrelated␈αprojects.␈↓ ↓H
␈↓ εW
␈↓ εW
Yours sincerely,␈↓ εW
␈↓ εW
␈↓ εW
␈↓ εW
Victor Scheinman␈↓ εW
    President␈↓ εW
␈↓ εW
␈↓ ↓H
VDS:pdp10␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H