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\|\\M1BDR30;\M2SIGN57;\M3NGR25;\M4NGR20;\M5NGR30;\F2\CVICARM
\F3\C154 EAST DANA STREET
\CMOUNTAIN VIEW, CA. 94041
\F4\←L\-R\/'7;\+R\→.\→S   Telephone:
\←S\→.415-965-0557

\F1\CMANIPULATOR COMPONENT DETAILS

STANFORD ARM
\J	An electric manipulator with 6 degrees of freedom plus a two fingered hand.
Potentiometer, encoder or resolver position sensors and tachometers on all axes.  D.C. motor drive, with
electromagnetic brakes on all joints.  Completely wired with two multiple contact connectors.
This arm has a 4.5 kg. direct lift capability.\.

M.I.T. ARM
\J	A small 6 degree of freedom electric arm featuring six revolute joints, D.C. motor drives and 
Potentiometer feedback on all joints including the hand.  Tachometer feedback is provided on 5 joints.
This arm has a 1.4 kg. lift capability.\.

POWER AMPLIFIERS AND MANUAL CONTROL
\J	Bipolar 35 vdc. supply, power amplifiers for all joints and hand,
remote enable logic, current limit and motor temperature sense 
electronics.  Brake drivers,  and function select
logic.  Manual control unit with computer-manual mode select switch, 
emergency stop button, and brake control switches.  Allows remote manual
positioning of arm without use of computer.\.

MULTIMODE SERVOS
\J	Hardware servo electronics for all joints and hand.  Computer 
selected position, velocity or torque (current) servo modes on a joint
by joint  basis. Position  sensor and  tachometer buffer  amplifiers.
Servo accuracy indicator bits. Electrical limit stops for all joints.
Servo cards plug into power amplifier unit.\.

COMPUTER INTERFACE
\J	Complete interface to PDP-11, Nova, or Interdata computers.  Includes
power supply, all  cables, and interface card for  selected computer.
Interface features 12  bit A/D for 32 channels of analog signal input
(one arm plus many  spares), eight 12 bit  DAC
channels for  arm plus one  or more  accessory devices.  Output of brake
bits, spare command bits, servo mode select bits, and enable bits is included.
Provision for reading joint tolerance bits, touch sensor bits, and 
accessory device bits.
Also provided is
emergency stop logic, and provision for orderly shutdown of arm in
case of computer failure.\.

SOFTWARE
\J	For DEC PDP-11 series computers only.
Our software package is continuously being expanded.
We currently offer a special arm program editor for quickly writing
programs in our easy to use VAL language. Vicarm software includes 
routines for point to
point trajectories, straight line motion in any direction, pick and place motions,
and controlled grasp motions.  Precision points can be entered by typing in
coordinates (an arm solution routine is included in the software),
or by placing the arm at a desired point (Unimate mode).
Transforms (points in space)
are labeled and can be called at random by the program.  Looping and branching 
features are included.\.

\F2\CVICARM

\F1\CMANIPULATOR COMPONENT DETAILS


COMPUTER
\J	The Digital Equipment Corporation LSI-11 computer is used in our complete
system.  This 16 bit processor with floating point processing capability has 20k words of MOS memory and
a serial data interface to a teletype terminal (supplied).
The processor, memory and interfaces are supplied with their own
power supply and operating panel.  The computer is a general purpose device, and
may also be used to run other programs or operate devices other than the arm.\.

COMPLETE SYSTEM
\J	The complete system includes everything mentioned above packaged into
three units- the arm and hand, the power supply and servo unit, and the computer and
interface unit.  All are connected by plug-in cables.  Power required is 
120/240 VAC.  Each unit is light enough to be hand carried by one person.\.




\COPTIONS


WRIST FORCE SENSOR
\J	This is a 6-component wrist mounted force balance.  It uses semiconductor
strain gauges, and has internal electronics.  It interfaces through the computer
interface, or can be used separately.  A calibration matrix is provided.  
Overload protection for all components of force and moment is included.
Force  resolution is
5 grams with a range of +- 4.5 kg.  Moment resolution is 15 gm-cm with a range
of +- 12 kg-cm.
This device is currently offered only for the Stanford Arm.\.

FORCE SENSING FINGERS
\J	These are fingers with strain gauges mounted.  They are sensitive to touching and 
gripping forces.  Resolution is 3 grams with a maximum force of 5 kg.  Amplifiers and
signal conditioning electronics is included.  This unit connects to the spare analog inputs of our
interface.  Available only on the Stanford Arm.\.

TOUCH SENSING FINGERS
\J	These are fingers with sensitive switches mounted in the center of the 
finger pads. Their switch output can be read through the extra bit input
lines on our interface.  All wires and connectors are provided.  Currently
available only with the Stanford Arm.\.
	




	

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