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C00001 00001
C00002 00002			SPECIFICATIONS FOR THE STANFORD ARM
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		SPECIFICATIONS FOR THE STANFORD ARM

LIMITS OF MOTION-EACH JOINT
#1- 300degrees total rotation
#2- 200 degrees (optional 300 degrees)
#3- 75 cm. total linear motion 
#4- 330 degrees- (optional 600 degrees)
#5- 220 degrees
#6- 330 degrees- (optional 600 degrees)
Hand- 10.5 cm. maximum opening.

MAX SPEED EACH JOINT
JOINT #      UNLOADED      LOADED WITH 2.2 KG.- AGAINST GRAVITY
1		3 rad/sec	2 rad/sec
2		1.5 rad/sec 	1 rad/sec
3		100 cm/sec	50 cm/sec
4		6 rad/sec	2 rad/sec
5		6 rad/sec	2 rad/sec
6		6 rad/sec	3 rad/sec
Hand 		8 cm/sec	3 cm/sec

MAXIMUM LIFT
	Within  the  defined  workspace  which  is  a  50  centimeter
diameter hemisphere centered on a point on the same plane as  the arm
base and 40 centimeters from the centerline of the  base  plate,  the
arm will lift a rough steel block having a mass of 4.5 kg.

MAXIMUM REACH
	Maximum reach of the arm is about 1 meter.  Thus the arm  can
access points within a 2 meter diameter hemisphere.

ACCURACY AND PRECISION
	Within the defined  workspace, the arm  has an accuracy  of 5
millimeters  and a  repeatability of  2  mm when  using potentiometer
calibration tables and  12 bit resolution a/d.  With encoders on  the
first three joints, the accuracy is 2.5 mm and the repeatability is 1
mm. Resolution is equal to the repeatability.

OTHER DETAILS
	The arm runs on 120vac supply voltage.A power supply provides
+ and-  30 vdc for the servo motors  and brakes.The seven d.c. motors
are controlled through linear  current amplifiers which require a  +-
10 volt signal range from a DAC (8  bits min.). A cable  from the arm
provides   the  feedback  signals  to   the  computer  and/or  manual
controller. This cable  also powers all the  motors and brakes.   For
the  potentiometers and tachometers  a reference  power supply  and a
minimum of a 16 channel, 12 bit a/d is required. For the encoders,  a
quadrature  decoder   and  up-down  counter   for  each   encoder  is
required.The encoder electronics interface directly to the i/o buss.

TORQUE, FORCE AND DUTY CYCLE LIMITS
JOINT#		MAX.CONTINUOUS TORQUE	MAX.TORQUE(10%DUTY CYCLE-MAX. 10 SECS)
1		200 kg-cm		400 kg-cm
2		400 kg-cm		800 kg-cm
3		3.2 kg			7 kg
4		35 kg-cm		70 kg-cm    (1 kg-cm approx. equals 1 in-lb)
5		35 kg-cm		70 kg-cm             
6		10 kg-cm		20 kg-cm
Hand		2.3 kg			4.5 kg

NOTE: All figures mentioned here are approximate.   They are supposed
to  be conservative numbers,  but are not guaranteed specifications.